A motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution. More...
#include <ompl/base/DiscreteMotionValidator.h>

Public Member Functions | |
DiscreteMotionValidator (SpaceInformation *si) | |
Constructor. | |
DiscreteMotionValidator (const SpaceInformationPtr &si) | |
Constructor. | |
virtual bool | checkMotion (const State *s1, const State *s2) const |
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid. | |
virtual bool | checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const |
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. |
Detailed Description
A motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution.
Definition at line 50 of file DiscreteMotionValidator.h.
Member Function Documentation
bool base::DiscreteMotionValidator::checkMotion | ( | const State * | s1, |
const State * | s2 | ||
) | const [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.
Implements base::MotionValidator.
Definition at line 92 of file DiscreteMotionValidator.cpp.
bool base::DiscreteMotionValidator::checkMotion | ( | const State * | s1, |
const State * | s2, | ||
std::pair< State *, double > & | lastValid | ||
) | const [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 NULL, 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.
Implements base::MotionValidator.
Definition at line 48 of file DiscreteMotionValidator.cpp.
The documentation for this class was generated from the following files:
- ompl/base/DiscreteMotionValidator.h
- ompl/base/src/DiscreteMotionValidator.cpp