MotionValidator.h
96 virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const = 0;
double getValidMotionFraction() const
Get the fraction of segments that tested as valid.
Definition: MotionValidator.h:111
unsigned int getInvalidMotionCount() const
Get the number of segments that tested as invalid.
Definition: MotionValidator.h:105
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...
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: MotionValidator.h:125
unsigned int getValidMotionCount() const
Get the number of segments that tested as valid.
Definition: MotionValidator.h:99
Abstract definition for a class checking the validity of motions – path segments between states...
Definition: MotionValidator.h:65
A boost shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
void resetMotionCounter()
Reset the counters for valid and invalid segments.
Definition: MotionValidator.h:117