Abstract definition for a class checking the validity of motions – path segments between states. This is often called a local planner. The implementation of this class must be thread safe. More...
#include <ompl/base/MotionValidator.h>
Public Member Functions | |
| MotionValidator (SpaceInformation *si) | |
| Constructor. | |
| MotionValidator (const SpaceInformationPtr &si) | |
| Constructor. | |
| virtual bool | checkMotion (const State *s1, const State *s2) const =0 |
| Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid. More... | |
| virtual bool | checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const =0 |
| Check if the path between two states is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid. More... | |
| unsigned int | getValidMotionCount () const |
| Get the number of segments that tested as valid. | |
| unsigned int | getInvalidMotionCount () const |
| Get the number of segments that tested as invalid. | |
| unsigned int | getCheckedMotionCount () const |
| Get the total number of segments tested, regardless of result. | |
| double | getValidMotionFraction () const |
| Get the fraction of segments that tested as valid. | |
| void | resetMotionCounter () |
| Reset the counters for valid and invalid segments. | |
Protected Attributes | |
| SpaceInformation * | si_ |
| The instance of space information this state validity checker operates on. | |
| unsigned int | valid_ |
| Number of valid segments. | |
| unsigned int | invalid_ |
| Number of invalid segments. | |
Detailed Description
Abstract definition for a class checking the validity of motions – path segments between states. This is often called a local planner. The implementation of this class must be thread safe.
Definition at line 128 of file MotionValidator.h.
Member Function Documentation
◆ checkMotion() [1/2]
|
pure virtual |
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
- Note
- This function updates the number of valid and invalid segments.
Implemented in ompl::base::DubinsMotionValidator, ompl::base::ReedsSheppMotionValidator, ompl::base::DiscreteMotionValidator, ompl::base::ConstrainedMotionValidator, and ompl::app::FCLContinuousMotionValidator.
◆ checkMotion() [2/2]
|
pure virtual |
Check if the path between two states is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid.
- Parameters
-
s1 start state of the motion to be checked (assumed to be valid) s2 final state of the motion to be checked lastValid first: storage for the last valid state (may be nullptr, if the user does not care about the exact state); this need not be different from s1 or s2. second: the time (between 0 and 1) of the last valid state, on the motion from s1 to s2. If the function returns false, lastValid.first must be set to a valid state, even if that implies copying s1 to lastValid.first (in case lastValid.second = 0). If the function returns true, lastValid.first and lastValid.second should not be modified.
- Note
- This function updates the number of valid and invalid segments.
Implemented in ompl::base::DubinsMotionValidator, ompl::base::ReedsSheppMotionValidator, ompl::base::DiscreteMotionValidator, and ompl::base::ConstrainedMotionValidator.
The documentation for this class was generated from the following file:
- ompl/base/MotionValidator.h