MotionValidator.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_MOTION_VALIDATOR_
#define OMPL_BASE_MOTION_VALIDATOR_

#include "ompl/base/State.h"
#include "ompl/util/ClassForward.h"
#include <utility>

namespace ompl
{

    namespace base
    {
        OMPL_CLASS_FORWARD(SpaceInformation);


        OMPL_CLASS_FORWARD(MotionValidator);

        class MotionValidator
        {
        public:

            MotionValidator(SpaceInformation *si) : si_(si), valid_(0), invalid_(0)
            {
            }

            MotionValidator(const SpaceInformationPtr &si) : si_(si.get()), valid_(0), invalid_(0)
            {
            }

            virtual ~MotionValidator()
            {
            }

            virtual bool checkMotion(const State *s1, const State *s2) const = 0;

            virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const = 0;

            unsigned int getValidMotionCount() const
            {
                return valid_;
            }

            unsigned int getInvalidMotionCount() const
            {
                return invalid_;
            }

            unsigned int getCheckedMotionCount() const
            {
                return valid_ + invalid_;
            }

            double getValidMotionFraction() const
            {
                return valid_ == 0 ? 0.0 : (double)valid_ / (double)(invalid_ + valid_);
            }

            void resetMotionCounter()
            {
                valid_ = invalid_ = 0;
            }

        protected:

            SpaceInformation    *si_;

            mutable unsigned int valid_;

            mutable unsigned int invalid_;

        };

    }
}

#endif