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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 <iostream>
00042 
00043 #include <boost/noncopyable.hpp>
00044 
00045 namespace ompl
00046 {
00047     namespace base
00048     {
00049 
00050         ClassForward(SpaceInformation);
00051 
00053         ClassForward(Path);
00054 
00059         class Path : private boost::noncopyable
00060         {
00061         public:
00062 
00064             Path(const SpaceInformationPtr &si) : si_(si)
00065             {
00066             }
00067 
00069             virtual ~Path(void)
00070             {
00071             }
00072 
00074             const SpaceInformationPtr& getSpaceInformation(void) const
00075             {
00076                 return si_;
00077             }
00078 
00080             virtual double length(void) const = 0;
00081 
00083             virtual bool check(void) const = 0;
00084 
00086             virtual void print(std::ostream &out) const = 0;
00087 
00088         protected:
00089 
00091             SpaceInformationPtr si_;
00092         };
00093 
00094     }
00095 }
00096 
00097 #endif