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src/ompl/control/SimpleSetup.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_SIMPLE_SETUP_
00038 #define OMPL_CONTROL_SIMPLE_SETUP_
00039 
00040 #include "ompl/base/Planner.h"
00041 #include "ompl/control/SpaceInformation.h"
00042 #include "ompl/control/PlannerData.h"
00043 #include "ompl/base/ProblemDefinition.h"
00044 #include "ompl/control/PathControl.h"
00045 #include "ompl/geometric/PathGeometric.h"
00046 #include "ompl/util/Console.h"
00047 #include "ompl/util/Exception.h"
00048 
00049 namespace ompl
00050 {
00051 
00052     namespace control
00053     {
00055         ClassForward(SimpleSetup);
00057 
00063         class SimpleSetup
00064         {
00065         public:
00066 
00068             explicit
00069             SimpleSetup(const ControlSpacePtr &space);
00070 
00071             virtual ~SimpleSetup(void)
00072             {
00073             }
00074 
00076             const SpaceInformationPtr& getSpaceInformation(void) const
00077             {
00078                 return si_;
00079             }
00080 
00082             const base::ProblemDefinitionPtr& getProblemDefinition(void) const
00083             {
00084                 return pdef_;
00085             }
00086 
00088             const base::StateSpacePtr& getStateSpace(void) const
00089             {
00090                 return si_->getStateSpace();
00091             }
00092 
00094             const ControlSpacePtr& getControlSpace(void) const
00095             {
00096                 return si_->getControlSpace();
00097             }
00098 
00100             const base::StateValidityCheckerPtr& getStateValidityChecker(void) const
00101             {
00102                 return si_->getStateValidityChecker();
00103             }
00104 
00105             const StatePropagatorPtr& getStatePropagator(void) const
00106             {
00107                 return si_->getStatePropagator();
00108             }
00109 
00111             const base::GoalPtr& getGoal(void) const
00112             {
00113                 return pdef_->getGoal();
00114             }
00115 
00117             const base::PlannerPtr& getPlanner(void) const
00118             {
00119                 return planner_;
00120             }
00121 
00123             const base::PlannerAllocator& getPlannerAllocator(void) const
00124             {
00125                 return pa_;
00126             }
00127 
00129             bool haveExactSolutionPath(void) const;
00130 
00131 
00133             bool haveSolutionPath(void) const
00134             {
00135                 return pdef_->getSolutionPath();
00136             }
00137 
00139             PathControl& getSolutionPath(void) const;
00140 
00142             void getPlannerData(base::PlannerData &pd) const;
00143 
00145             void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
00146             {
00147                 si_->setStateValidityChecker(svc);
00148             }
00149 
00151             void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
00152             {
00153                 si_->setStateValidityChecker(svc);
00154             }
00155 
00157             void setStatePropagator(const StatePropagatorFn &sp)
00158             {
00159                 si_->setStatePropagator(sp);
00160             }
00161 
00163             void setStatePropagator(const StatePropagatorPtr &sp)
00164             {
00165                 si_->setStatePropagator(sp);
00166             }
00167 
00169             void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
00170             {
00171                 pdef_->setStartAndGoalStates(start, goal, threshold);
00172             }
00173 
00175             void setGoalState(const base::ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
00176             {
00177                 pdef_->setGoalState(goal, threshold);
00178             }
00179 
00182             void addStartState(const base::ScopedState<> &state)
00183             {
00184                 pdef_->addStartState(state);
00185             }
00186 
00188             void clearStartStates(void)
00189             {
00190                 pdef_->clearStartStates();
00191             }
00192 
00194             void setStartState(const base::ScopedState<> &state)
00195             {
00196                 clearStartStates();
00197                 addStartState(state);
00198             }
00199 
00202             void setGoal(const base::GoalPtr &goal)
00203             {
00204                 pdef_->setGoal(goal);
00205             }
00206 
00211             void setPlanner(const base::PlannerPtr &planner)
00212             {
00213                 if (planner && planner->getSpaceInformation().get() != si_.get())
00214                     throw Exception("Planner instance does not match space information");
00215                 planner_ = planner;
00216                 configured_ = false;
00217             }
00218 
00222             void setPlannerAllocator(const base::PlannerAllocator &pa)
00223             {
00224                 pa_ = pa;
00225                 planner_.reset();
00226                 configured_ = false;
00227             }
00228 
00230             virtual base::PlannerStatus solve(double time = 1.0);
00231 
00233             virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
00234 
00236             bool invalidLastRequest(void) const
00237             {
00238                 return invalid_request_;
00239             }
00240 
00242             double getLastPlanComputationTime(void) const
00243             {
00244                 return planTime_;
00245             }
00246 
00250             virtual void clear(void);
00251 
00253             virtual void print(std::ostream &out = std::cout) const;
00254 
00258             virtual void setup(void);
00259 
00261             base::ParamSet& params(void)
00262             {
00263                 return params_;
00264             }
00265 
00267             const base::ParamSet& params(void) const
00268             {
00269                 return params_;
00270             }
00271 
00272         protected:
00273 
00275             SpaceInformationPtr           si_;
00276 
00278             base::ProblemDefinitionPtr    pdef_;
00279 
00281             base::PlannerPtr              planner_;
00282 
00284             base::PlannerAllocator        pa_;
00285 
00287             bool                          configured_;
00288 
00290             double                        planTime_;
00291 
00293             bool                          invalid_request_;
00294 
00296             base::ParamSet                params_;
00297         };
00298 
00300         base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
00301     }
00302 
00303 }
00304 #endif
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