ompl/geometric/PathGeometric.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
00038 #define OMPL_GEOMETRIC_PATH_GEOMETRIC_
00039 
00040 #include "ompl/base/SpaceInformation.h"
00041 #include "ompl/base/Path.h"
00042 #include <vector>
00043 #include <utility>
00044 
00045 namespace ompl
00046 {
00047     namespace base
00048     {
00050         OMPL_CLASS_FORWARD(OptimizationObjective);
00052     }
00053 
00055     namespace geometric
00056     {
00060         class PathGeometric : public base::Path
00061         {
00062         public:
00063 
00065             PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
00066             {
00067             }
00068 
00070             PathGeometric(const PathGeometric &path);
00071 
00073             PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
00074 
00076             PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);
00077 
00078             virtual ~PathGeometric()
00079             {
00080                 freeMemory();
00081             }
00082 
00084             PathGeometric& operator=(const PathGeometric &other);
00085             
00089             virtual base::Cost cost(const base::OptimizationObjectivePtr &obj) const;
00090 
00092             virtual double length() const;
00093 
00095             virtual bool check() const;
00096 
00110             double smoothness() const;
00111 
00123             double clearance() const;
00124 
00126             virtual void print(std::ostream &out) const;
00131             virtual void printAsMatrix(std::ostream &out) const;
00132 
00141             void interpolate(unsigned int count);
00142 
00147             void interpolate();
00148 
00150             void subdivide();
00151 
00153             void reverse();
00154 
00166             std::pair<bool, bool> checkAndRepair(unsigned int attempts);
00167 
00178             void overlay(const PathGeometric &over, unsigned int startIndex = 0);
00179 
00181             void append(const base::State *state);
00182 
00194             void append(const PathGeometric &path);
00195 
00197             void prepend(const base::State *state);
00198 
00200             void keepAfter(const base::State *state);
00201 
00203             void keepBefore(const base::State *state);
00204 
00206             void random();
00207 
00209             bool randomValid(unsigned int attempts);
00216             int getClosestIndex(const base::State *state) const;
00217 
00219             std::vector<base::State*>& getStates()
00220             {
00221                 return states_;
00222             }
00223 
00225             base::State* getState(unsigned int index)
00226             {
00227                 return states_[index];
00228             }
00229 
00231             const base::State* getState(unsigned int index) const
00232             {
00233                 return states_[index];
00234             }
00235 
00237             std::size_t getStateCount() const
00238             {
00239                 return states_.size();
00240             }
00241 
00244         protected:
00245 
00247             void freeMemory();
00248 
00250             void copyFrom(const PathGeometric &other);
00251 
00253             std::vector<base::State*> states_;
00254         };
00255 
00256     }
00257 }
00258 
00259 #endif
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