ompl/extensions/morse/MorseSimpleSetup.h
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00034 
00035 /* Authors: Ioan Sucan, Caleb Voss */
00036 
00037 #ifndef OMPL_EXTENSION_MORSE_SIMPLE_SETUP_
00038 #define OMPL_EXTENSION_MORSE_SIMPLE_SETUP_
00039 
00040 #include "ompl/control/SimpleSetup.h"
00041 #include "ompl/extensions/morse/MorseEnvironment.h"
00042 #include "ompl/extensions/morse/MorseStateSpace.h"
00043 
00044 namespace ompl
00045 {
00046 
00047     namespace control
00048     {
00049 
00052         class MorseSimpleSetup : public SimpleSetup
00053         {
00054         public:
00055 
00057             const base::MorseEnvironmentPtr env_;
00058             
00063             MorseSimpleSetup(const base::MorseEnvironmentPtr &env);
00064 
00065             virtual ~MorseSimpleSetup()
00066             {
00067             }
00068 
00070             const base::MorseEnvironmentPtr& getEnvironment() const
00071             {
00072                 return env_;
00073             }
00074 
00076             base::ScopedState<base::MorseStateSpace> getCurrentState() const;
00077 
00079             void setCurrentState(const base::ScopedState<> &state);
00080 
00082             void setCurrentState(const base::State *state);
00083 
00087             void setup();
00088             
00090             base::PlannerStatus solve();
00091             
00094             void playPath(const base::PathPtr &path) const;
00095 
00097             void playSolutionPath() const;
00098 
00101             base::PathPtr simulateControl(const double *control, unsigned int steps) const;
00102 
00105             base::PathPtr simulateControl(const Control *control, unsigned int steps) const;
00106 
00111             base::PathPtr simulate(unsigned int steps) const;
00112 
00113         };
00114     }
00115 }
00116 
00117 #endif
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