base::DiscreteMotionValidator Class Reference

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>

Inheritance diagram for base::DiscreteMotionValidator:

List of all members.

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:
s1start state of the motion to be checked (assumed to be valid)
s2final state of the motion to be checked
lastValidfirst: 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.


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