Path.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_PATH_
38 #define OMPL_BASE_PATH_
39 
40 #include "ompl/util/ClassForward.h"
41 #include "ompl/base/Cost.h"
42 #include <iostream>
43 #include <boost/noncopyable.hpp>
44 
45 namespace ompl
46 {
47  namespace base
48  {
49 
51  OMPL_CLASS_FORWARD(SpaceInformation);
53 
55  OMPL_CLASS_FORWARD(OptimizationObjective);
57 
59 
60  OMPL_CLASS_FORWARD(Path);
62 
67  class Path : private boost::noncopyable
68  {
69  public:
70 
72  Path(const SpaceInformationPtr &si) : si_(si)
73  {
74  }
75 
77  virtual ~Path()
78  {
79  }
80 
83  {
84  return si_;
85  }
86 
88  virtual double length() const = 0;
89 
92  virtual Cost cost(const OptimizationObjectivePtr& obj) const = 0;
93 
95  virtual bool check() const = 0;
96 
98  virtual void print(std::ostream &out) const = 0;
99 
100  protected:
101 
104  };
105 
106  }
107 }
108 
109 #endif
Path(const SpaceInformationPtr &si)
Constructor. A path must always know the space information it is part of.
Definition: Path.h:72
const SpaceInformationPtr & getSpaceInformation() const
Get the space information associated to this class.
Definition: Path.h:82
SpaceInformationPtr si_
The space information this path is part of.
Definition: Path.h:103
virtual bool check() const =0
Check if the path is valid.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
virtual ~Path()
Destructor.
Definition: Path.h:77
Abstract definition of a path.
Definition: Path.h:67
virtual double length() const =0
Return the length of a path.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
virtual Cost cost(const OptimizationObjectivePtr &obj) const =0
Return the cost of the path with respect to a specified optimization objective.
virtual void print(std::ostream &out) const =0
Print the path to a stream.
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47