/usr/include/ompl/base/Path.h is in libompl-dev 1.2.1+ds1-1build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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/* Author: Ioan Sucan */
#ifndef OMPL_BASE_PATH_
#define OMPL_BASE_PATH_
#include "ompl/util/ClassForward.h"
#include "ompl/base/Cost.h"
#include <iostream>
#include <boost/concept_check.hpp>
namespace ompl
{
namespace base
{
/// @cond IGNORE
OMPL_CLASS_FORWARD(SpaceInformation);
/// @endcond
/// @cond IGNORE
OMPL_CLASS_FORWARD(OptimizationObjective);
/// @endcond
/// @cond IGNORE
/** \brief Forward declaration of ompl::base::Path */
OMPL_CLASS_FORWARD(Path);
/// @endcond
/** \class ompl::base::PathPtr
\brief A shared pointer wrapper for ompl::base::Path */
/** \brief Abstract definition of a path */
class Path
{
public:
// non-copyable
Path(const Path&) = delete;
Path& operator=(const Path&) = delete;
/** \brief Constructor. A path must always know the space information it is part of */
Path(const SpaceInformationPtr &si) : si_(si)
{
}
/** \brief Destructor */
virtual ~Path()
{
}
/** \brief Get the space information associated to this class */
const SpaceInformationPtr& getSpaceInformation() const
{
return si_;
}
/** \brief Cast this instance to a desired type. */
template<class T>
const T* as() const
{
/** \brief Make sure the type we are allocating is indeed a Path */
BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Path*>));
return static_cast<const T*>(this);
}
/** \brief Cast this instance to a desired type. */
template<class T>
T* as()
{
/** \brief Make sure the type we are allocating is indeed a Path */
BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Path*>));
return static_cast<T*>(this);
}
/** \brief Return the length of a path */
virtual double length() const = 0;
/** \brief Return the cost of the path with respect to a
specified optimization objective. */
virtual Cost cost(const OptimizationObjectivePtr& obj) const = 0;
/** \brief Check if the path is valid */
virtual bool check() const = 0;
/** \brief Print the path to a stream */
virtual void print(std::ostream &out) const = 0;
protected:
/** \brief The space information this path is part of */
SpaceInformationPtr si_;
};
}
}
#endif
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