ompl/control/planners/ltl/LTLProblemDefinition.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
00038 #define OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
00039 
00040 #include "ompl/base/ProblemDefinition.h"
00041 #include "ompl/control/planners/ltl/ProductGraph.h"
00042 #include "ompl/control/planners/ltl/LTLSpaceInformation.h"
00043 
00044 namespace ompl
00045 {
00046     namespace control
00047     {
00049 
00050         OMPL_CLASS_FORWARD(LTLProblemDefinition);
00052 
00055         class LTLProblemDefinition : public base::ProblemDefinition
00056         {
00057         public:
00058             LTLProblemDefinition(const control::LTLSpaceInformationPtr& ltlsi);
00059 
00060             virtual ~LTLProblemDefinition(void) {}
00061 
00062             void addLowerStartState(const base::State* s);
00063 
00064             base::PathPtr getLowerSolutionPath(void) const;
00065 
00066         protected:
00067             void createGoal(void);
00068 
00069             LTLSpaceInformationPtr ltlsi_;
00070         };
00071     }
00072 }
00073 
00074 #endif
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