MotionValidator.h
99 virtual bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const = 0;
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...
unsigned int getValidMotionCount() const
Get the number of segments that tested as valid.
Definition: MotionValidator.h:102
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: MotionValidator.h:133
Abstract definition for a class checking the validity of motions – path segments between states...
Definition: MotionValidator.h:64
double getValidMotionFraction() const
Get the fraction of segments that tested as valid.
Definition: MotionValidator.h:120
A 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:81
void resetMotionCounter()
Reset the counters for valid and invalid segments.
Definition: MotionValidator.h:126
unsigned int getInvalidMotionCount() const
Get the number of segments that tested as invalid.
Definition: MotionValidator.h:108
unsigned int getCheckedMotionCount() const
Get the total number of segments tested, regardless of result.
Definition: MotionValidator.h:114