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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 <iostream>
42 
43 #include <boost/noncopyable.hpp>
44 
45 namespace ompl
46 {
47  namespace base
48  {
49 
51  OMPL_CLASS_FORWARD(SpaceInformation);
52  OMPL_CLASS_FORWARD(OptimizationObjective);
54 
56 
57  OMPL_CLASS_FORWARD(Path);
59 
64  class Path : private boost::noncopyable
65  {
66  public:
67 
69  Path(const SpaceInformationPtr &si) : si_(si)
70  {
71  }
72 
74  virtual ~Path(void)
75  {
76  }
77 
80  {
81  return si_;
82  }
83 
85  virtual double length(void) const = 0;
86 
88  virtual double cost(const OptimizationObjective &objective) const = 0;
89 
91  virtual bool check(void) const = 0;
92 
94  virtual void print(std::ostream &out) const = 0;
95 
96  protected:
97 
100  };
101 
102  }
103 }
104 
105 #endif