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Path.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_PATH_
38#define OMPL_BASE_PATH_
39
40#include "ompl/util/ClassForward.h"
41#include "ompl/base/Cost.h"
42#include <iostream>
43#include <boost/concept_check.hpp>
44#include <utility>
45
46namespace ompl
47{
48 namespace base
49 {
51 OMPL_CLASS_FORWARD(SpaceInformation);
53
55 OMPL_CLASS_FORWARD(OptimizationObjective);
57
59
60 OMPL_CLASS_FORWARD(Path);
62
67 class Path
68 {
69 public:
70 // non-copyable
71 Path(const Path &) = delete;
72 Path &operator=(const Path &) = delete;
73
76 {
77 }
78
80 virtual ~Path() = default;
81
84 {
85 return si_;
86 }
87
89 template <class T>
90 const T *as() const
91 {
93 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Path *>));
94
95 return static_cast<const T *>(this);
96 }
97
99 template <class T>
100 T *as()
101 {
103 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Path *>));
104
105 return static_cast<T *>(this);
106 }
107
109 virtual double length() const = 0;
110
113 virtual Cost cost(const OptimizationObjectivePtr &obj) const = 0;
114
116 virtual bool check() const = 0;
117
119 virtual void print(std::ostream &out) const = 0;
120
121 protected:
124 };
125 }
126}
127
128#endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
A shared pointer wrapper for ompl::base::OptimizationObjective.
Abstract definition of a path.
Definition: Path.h:68
T * as()
Cast this instance to a desired type.
Definition: Path.h:100
virtual void print(std::ostream &out) const =0
Print the path to a stream.
Path(SpaceInformationPtr si)
Constructor. A path must always know the space information it is part of.
Definition: Path.h:75
virtual bool check() const =0
Check if the path is valid.
const T * as() const
Cast this instance to a desired type.
Definition: Path.h:90
SpaceInformationPtr si_
The space information this path is part of.
Definition: Path.h:123
virtual Cost cost(const OptimizationObjectivePtr &obj) const =0
Return the cost of the path with respect to a specified optimization objective.
virtual ~Path()=default
Destructor.
const SpaceInformationPtr & getSpaceInformation() const
Get the space information associated to this class.
Definition: Path.h:83
virtual double length() const =0
Return the length of a path.
A shared pointer wrapper for ompl::base::SpaceInformation.
Main namespace. Contains everything in this library.
STL namespace.