ompl/base/Path.h
00001 /*********************************************************************
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_PATH_
00038 #define OMPL_BASE_PATH_
00039 
00040 #include "ompl/util/ClassForward.h"
00041 #include "ompl/base/Cost.h"
00042 #include <iostream>
00043 #include <boost/noncopyable.hpp>
00044 
00045 namespace ompl
00046 {
00047     namespace base
00048     {
00049 
00051         OMPL_CLASS_FORWARD(SpaceInformation);
00053 
00055         OMPL_CLASS_FORWARD(OptimizationObjective);
00057 
00059 
00060         OMPL_CLASS_FORWARD(Path);
00062 
00067         class Path : private boost::noncopyable
00068         {
00069         public:
00070 
00072             Path(const SpaceInformationPtr &si) : si_(si)
00073             {
00074             }
00075 
00077             virtual ~Path()
00078             {
00079             }
00080 
00082             const SpaceInformationPtr& getSpaceInformation() const
00083             {
00084                 return si_;
00085             }
00086 
00088             virtual double length() const = 0;
00089 
00092             virtual Cost cost(const OptimizationObjectivePtr& obj) const = 0;
00093 
00095             virtual bool check() const = 0;
00096 
00098             virtual void print(std::ostream &out) const = 0;
00099 
00100         protected:
00101 
00103             SpaceInformationPtr si_;
00104         };
00105 
00106     }
00107 }
00108 
00109 #endif
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