<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: src/ompl/base/MotionValidator.h Source File</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
var _gaq = _gaq || [];
_gaq.push(['_setAccount', 'UA-9156598-2']);
_gaq.push(['_trackPageview']);
(function() {
var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
})();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
<div class="tabs" id="ompltitle">
<ul class="tablist">
<li>The Open Motion Planning Library</li>
<li id="searchli">
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search API" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
<ul id="nav" class="dropdown">
<li class="first"><a href="index.html">Home</a></li>
<li><a href="download.html">Download</a></li>
<li><a href="documentation.html">Documentation</a></li>
<li><span class="dir">Code API</span>
<ul>
<li><a href="api_overview.html">API Overview</a></li>
<li><a href="namespaces.html">Namespaces</a></li>
<li><a href="annotated.html">Classes</a></li>
<li><a href="files.html">Files</a></li>
<li><a href="dirs.html">Directories</a></li>
</ul>
</li>
<li><span class="dir">Community</span>
<ul>
<li><a href="developers.html">Developers</a></li>
<li><a href="thirdparty.html">Contributions</a></li>
<li><a href="education.html">Education</a></li>
<li><a href="gallery.html">Gallery</a></li>
</ul>
</li>
<li><span class="dir">About</span>
<ul>
<li><a href="license.html">License</a></li>
<li><a href="citations.html">Citations</a></li>
<li><a href="acknowledgements.html">Acknowledgments</a></li>
<li><a href="contact.html">Contact Us</a></li>
</ul>
</li>
</ul>
</div>
<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>
<div class="container">
<div class="span-22 push-2 first last">
<div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a> </li>
<li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a> </li>
<li class="navelem"><a class="el" href="dir_40bc83a902349ad67ef9d1cb49964511.html">base</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="headertitle">
<div class="title">MotionValidator.h</div> </div>
</div>
<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_BASE_MOTION_VALIDATOR_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_MOTION_VALIDATOR_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/base/State.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/util/ClassForward.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <utility></span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">namespace </span>ompl
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">namespace </span>base
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(SpaceInformation);
<a name="l00051"></a>00051
<a name="l00053"></a>00053 <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(MotionValidator);
<a name="l00054"></a>00054
<a name="l00062"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html">00062</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1MotionValidator.html" title="Abstract definition for a class checking the validity of motions -- path segments between states...">MotionValidator</a>
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 <span class="keyword">public</span>:
<a name="l00065"></a>00065
<a name="l00067"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#a15055e5f4def52f36c570ec7027ba158">00067</a> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a15055e5f4def52f36c570ec7027ba158" title="Constructor.">MotionValidator</a>(<a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a>* si) : <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a2629e7715db18fd173b54392db71e4c0" title="The instance of space information this state validity checker operates on.">si_</a>(si), <a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8" title="Number of valid segments.">valid_</a>(0), <a class="code" href="classompl_1_1base_1_1MotionValidator.html#aefa042881c1060d57cc9bd28f5df7cac" title="Number of invalid segments.">invalid_</a>(0)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00072"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#a855c98a07315e15d030c4f3a428b35f3">00072</a> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a15055e5f4def52f36c570ec7027ba158" title="Constructor.">MotionValidator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">SpaceInformationPtr</a> &si) : <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a2629e7715db18fd173b54392db71e4c0" title="The instance of space information this state validity checker operates on.">si_</a>(si.get()), <a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8" title="Number of valid segments.">valid_</a>(0), <a class="code" href="classompl_1_1base_1_1MotionValidator.html#aefa042881c1060d57cc9bd28f5df7cac" title="Number of invalid segments.">invalid_</a>(0)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1base_1_1MotionValidator.html" title="Abstract definition for a class checking the validity of motions -- path segments between states...">MotionValidator</a>(<span class="keywordtype">void</span>)
<a name="l00077"></a>00077 {
<a name="l00078"></a>00078 }
<a name="l00079"></a>00079
<a name="l00083"></a>00083 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a9b6d254308ea12799a72049a8dff3fc6" title="Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid...">checkMotion</a>(<span class="keyword">const</span> State *s1, <span class="keyword">const</span> State *s2) <span class="keyword">const</span> = 0;
<a name="l00084"></a>00084
<a name="l00093"></a>00093 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a9b6d254308ea12799a72049a8dff3fc6" title="Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid...">checkMotion</a>(<span class="keyword">const</span> State *s1, <span class="keyword">const</span> State *s2, std::pair<State*, double> &lastValid) <span class="keyword">const</span> = 0;
<a name="l00094"></a>00094
<a name="l00096"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#a121026b11d3fffffa170c316e01a3efb">00096</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a121026b11d3fffffa170c316e01a3efb" title="Get the number of segments that tested as valid.">getValidMotionCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00097"></a>00097 <span class="keyword"> </span>{
<a name="l00098"></a>00098 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8" title="Number of valid segments.">valid_</a>;
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100
<a name="l00102"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#a204c507a57b1f01a9d068d50a2e59e16">00102</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a204c507a57b1f01a9d068d50a2e59e16" title="Get the number of segments that tested as invalid.">getInvalidMotionCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00103"></a>00103 <span class="keyword"> </span>{
<a name="l00104"></a>00104 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#aefa042881c1060d57cc9bd28f5df7cac" title="Number of invalid segments.">invalid_</a>;
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106
<a name="l00108"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#ac07211eaa6bbc98585138dacedeee389">00108</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#ac07211eaa6bbc98585138dacedeee389" title="Get the fraction of segments that tested as valid.">getValidMotionFraction</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00109"></a>00109 <span class="keyword"> </span>{
<a name="l00110"></a>00110 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8" title="Number of valid segments.">valid_</a> == 0 ? 0.0 : (double)<a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8" title="Number of valid segments.">valid_</a> / (<span class="keywordtype">double</span>)(<a class="code" href="classompl_1_1base_1_1MotionValidator.html#aefa042881c1060d57cc9bd28f5df7cac" title="Number of invalid segments.">invalid_</a> + <a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8" title="Number of valid segments.">valid_</a>);
<a name="l00111"></a>00111 }
<a name="l00112"></a>00112
<a name="l00114"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#a41bb496642fed27b6261b4f2ef54bf89">00114</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a41bb496642fed27b6261b4f2ef54bf89" title="Reset the counters for valid and invalid segments.">resetMotionCounter</a>(<span class="keywordtype">void</span>)
<a name="l00115"></a>00115 {
<a name="l00116"></a>00116 <a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8" title="Number of valid segments.">valid_</a> = <a class="code" href="classompl_1_1base_1_1MotionValidator.html#aefa042881c1060d57cc9bd28f5df7cac" title="Number of invalid segments.">invalid_</a> = 0;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keyword">protected</span>:
<a name="l00120"></a>00120
<a name="l00122"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#a2629e7715db18fd173b54392db71e4c0">00122</a> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a> *<a class="code" href="classompl_1_1base_1_1MotionValidator.html#a2629e7715db18fd173b54392db71e4c0" title="The instance of space information this state validity checker operates on.">si_</a>;
<a name="l00123"></a>00123
<a name="l00125"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8">00125</a> <span class="keyword">mutable</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#ae66b1bf994516a3abd2f7f8548731bc8" title="Number of valid segments.">valid_</a>;
<a name="l00126"></a>00126
<a name="l00128"></a><a class="code" href="classompl_1_1base_1_1MotionValidator.html#aefa042881c1060d57cc9bd28f5df7cac">00128</a> <span class="keyword">mutable</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1MotionValidator.html#aefa042881c1060d57cc9bd28f5df7cac" title="Number of invalid segments.">invalid_</a>;
<a name="l00129"></a>00129
<a name="l00130"></a>00130 };
<a name="l00131"></a>00131
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
</div>
<div class="footer span-22 push-2 last">
<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:29 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>
