MotionValidator.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_MOTION_VALIDATOR_
38 #define OMPL_BASE_MOTION_VALIDATOR_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/util/ClassForward.h"
42 #include <utility>
43 
44 namespace ompl
45 {
46 
47  namespace base
48  {
50  OMPL_CLASS_FORWARD(SpaceInformation);
52 
54 
55  OMPL_CLASS_FORWARD(MotionValidator);
57 
66  {
67  public:
68 
71  {
72  }
73 
75  MotionValidator(const SpaceInformationPtr &si) : si_(si.get()), valid_(0), invalid_(0)
76  {
77  }
78 
79  virtual ~MotionValidator()
80  {
81  }
82 
86  virtual bool checkMotion(const State *s1, const State *s2) const = 0;
87 
96  virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const = 0;
97 
99  unsigned int getValidMotionCount() const
100  {
101  return valid_;
102  }
103 
105  unsigned int getInvalidMotionCount() const
106  {
107  return invalid_;
108  }
109 
111  double getValidMotionFraction() const
112  {
113  return valid_ == 0 ? 0.0 : (double)valid_ / (double)(invalid_ + valid_);
114  }
115 
118  {
119  valid_ = invalid_ = 0;
120  }
121 
122  protected:
123 
126 
128  mutable unsigned int valid_;
129 
131  mutable unsigned int invalid_;
132 
133  };
134 
135  }
136 }
137 
138 #endif
unsigned int invalid_
Number of invalid segments.
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...
double getValidMotionFraction() const
Get the fraction of segments that tested as valid.
unsigned int getInvalidMotionCount() const
Get the number of segments that tested as invalid.
SpaceInformation * si_
The instance of space information this state validity checker operates on.
unsigned int valid_
Number of valid segments.
unsigned int getValidMotionCount() const
Get the number of segments that tested as valid.
Abstract definition for a class checking the validity of motions – path segments between states...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
A boost shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Definition of an abstract state.
Definition: State.h:50
MotionValidator(const SpaceInformationPtr &si)
Constructor.
MotionValidator(SpaceInformation *si)
Constructor.
void resetMotionCounter()
Reset the counters for valid and invalid segments.