Constrained configuration space specific implementation of checkMotion() that uses discreteGeodesic(). More...
#include <ompl/base/spaces/constraint/ConstrainedStateSpace.h>

Public Member Functions | |
ConstrainedMotionValidator (SpaceInformation *si) | |
Constructor. | |
ConstrainedMotionValidator (const SpaceInformationPtr &si) | |
Constructor. | |
bool | checkMotion (const State *s1, const State *s2) const override |
Return whether we can step from s1 to s2 along the manifold without collision. | |
bool | checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const override |
Return whether we can step from s1 to s2 along the manifold without collision. If not, return the last valid state and its interpolation parameter in lastValid. | |
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MotionValidator (SpaceInformation *si) | |
Constructor. | |
MotionValidator (const SpaceInformationPtr &si) | |
Constructor. | |
virtual bool | checkMotion (const State *s1, const State *s2) const =0 |
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 =0 |
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. | |
unsigned int | getValidMotionCount () const |
Get the number of segments that tested as valid. | |
unsigned int | getInvalidMotionCount () const |
Get the number of segments that tested as invalid. | |
unsigned int | getCheckedMotionCount () const |
Get the total number of segments tested, regardless of result. | |
double | getValidMotionFraction () const |
Get the fraction of segments that tested as valid. | |
void | resetMotionCounter () |
Reset the counters for valid and invalid segments. | |
Protected Attributes | |
const ConstrainedStateSpace & | ss_ |
Space in which we check motion. | |
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SpaceInformation * | si_ |
The instance of space information this state validity checker operates on. | |
unsigned int | valid_ |
Number of valid segments. | |
unsigned int | invalid_ |
Number of invalid segments. | |
Detailed Description
Constrained configuration space specific implementation of checkMotion() that uses discreteGeodesic().
Definition at line 66 of file ConstrainedStateSpace.h.
Constructor & Destructor Documentation
◆ ConstrainedMotionValidator() [1/2]
ompl::base::ConstrainedMotionValidator::ConstrainedMotionValidator | ( | SpaceInformation * | si | ) |
◆ ConstrainedMotionValidator() [2/2]
ompl::base::ConstrainedMotionValidator::ConstrainedMotionValidator | ( | const SpaceInformationPtr & | si | ) |
Constructor.
Definition at line 50 of file ConstrainedStateSpace.cpp.
Member Function Documentation
◆ checkMotion() [1/2]
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overridevirtual |
Return whether we can step from s1 to s2 along the manifold without collision.
Implements ompl::base::MotionValidator.
Definition at line 55 of file ConstrainedStateSpace.cpp.
◆ checkMotion() [2/2]
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overridevirtual |
Return whether we can step from s1 to s2 along the manifold without collision. If not, return the last valid state and its interpolation parameter in lastValid.
- Note
- The interpolation parameter will not likely reproduce the last valid state if used in interpolation since the distance between the last valid state and s2 is estimated using the ambient metric.
Implements ompl::base::MotionValidator.
Definition at line 60 of file ConstrainedStateSpace.cpp.
Member Data Documentation
◆ ss_
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protected |
Space in which we check motion.
Definition at line 90 of file ConstrainedStateSpace.h.
The documentation for this class was generated from the following files:
- ompl/base/spaces/constraint/ConstrainedStateSpace.h
- ompl/base/spaces/constraint/src/ConstrainedStateSpace.cpp