/usr/include/ompl/base/Path.h is in libompl-dev 0.13.0+git20130920.01d0ca4-1.
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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/noncopyable.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 boost shared pointer wrapper for ompl::base::Path */
/** \brief Abstract definition of a path */
class Path : private boost::noncopyable
{
public:
/** \brief Constructor. A path must always know the space information it is part of */
Path(const SpaceInformationPtr &si) : si_(si)
{
}
/** \brief Destructor */
virtual ~Path(void)
{
}
/** \brief Get the space information associated to this class */
const SpaceInformationPtr& getSpaceInformation(void) const
{
return si_;
}
/** \brief Return the length of a path */
virtual double length(void) const = 0;
/** \brief Return the cost of the path with respect to a
specified optimization objective. */
virtual Cost cost(const OptimizationObjectivePtr& obj) const;
/** \brief Check if the path is valid */
virtual bool check(void) 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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