ompl/base/MotionValidator.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_MOTION_VALIDATOR_
00038 #define OMPL_BASE_MOTION_VALIDATOR_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/ClassForward.h"
00042 #include <utility>
00043 
00044 namespace ompl
00045 {
00046 
00047     namespace base
00048     {
00050         OMPL_CLASS_FORWARD(SpaceInformation);
00052 
00054 
00055         OMPL_CLASS_FORWARD(MotionValidator);
00057 
00065         class MotionValidator
00066         {
00067         public:
00068 
00070             MotionValidator(SpaceInformation *si) : si_(si), valid_(0), invalid_(0)
00071             {
00072             }
00073 
00075             MotionValidator(const SpaceInformationPtr &si) : si_(si.get()), valid_(0), invalid_(0)
00076             {
00077             }
00078 
00079             virtual ~MotionValidator()
00080             {
00081             }
00082 
00086             virtual bool checkMotion(const State *s1, const State *s2) const = 0;
00087 
00096             virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const = 0;
00097 
00099             unsigned int getValidMotionCount() const
00100             {
00101                 return valid_;
00102             }
00103 
00105             unsigned int getInvalidMotionCount() const
00106             {
00107                 return invalid_;
00108             }
00109 
00111             double getValidMotionFraction() const
00112             {
00113                 return valid_ == 0 ? 0.0 : (double)valid_ / (double)(invalid_ + valid_);
00114             }
00115 
00117             void resetMotionCounter()
00118             {
00119                 valid_ = invalid_ = 0;
00120             }
00121 
00122         protected:
00123 
00125             SpaceInformation    *si_;
00126 
00128             mutable unsigned int valid_;
00129 
00131             mutable unsigned int invalid_;
00132 
00133         };
00134 
00135     }
00136 }
00137 
00138 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines