ompl/control/planners/ltl/LTLSpaceInformation.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
00038 #define OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
00039 
00040 #include "ompl/base/spaces/DiscreteStateSpace.h"
00041 #include "ompl/control/SpaceInformation.h"
00042 #include "ompl/control/planners/ltl/ProductGraph.h"
00043 
00044 namespace ompl
00045 {
00046     namespace control
00047     {
00049 
00050         OMPL_CLASS_FORWARD(LTLSpaceInformation);
00052 
00055         class LTLSpaceInformation : public SpaceInformation
00056         {
00057         public:
00058             LTLSpaceInformation(const SpaceInformationPtr& si, const ProductGraphPtr& prod);
00059 
00060             virtual ~LTLSpaceInformation(void) {}
00061 
00062             virtual void setup(void);
00063 
00064             const ProductGraphPtr& getProductGraph(void) const { return prod_; }
00065 
00066             const SpaceInformationPtr& getLowSpace() { return lowSpace_; }
00067 
00068             void getFullState(const base::State* low, base::State* full);
00069 
00070             base::State* getLowLevelState(base::State* s);
00071             const base::State* getLowLevelState(const base::State* s);
00072 
00073             ProductGraph::State* getProdGraphState(const base::State* s) const;
00074 
00075         protected:
00076             enum SpaceIndex { LOW_LEVEL = 0, REGION = 1, COSAFE = 2, SAFE = 3 };
00077             // Creates a new state propagator which uses the user-defined propagator
00078             // defined in low state space, followed by automaton-defined transition rules
00079             // for the co-safe and safe automata in prod.
00080             void extendPropagator(const SpaceInformationPtr& oldsi);
00081 
00082             // Creates a new state validity checker which uses the user-defined validity checker
00083             // defined in low state space and also checks for valid states in the automata in prod.
00084             void extendValidityChecker(const SpaceInformationPtr& oldsi);
00085 
00086             ProductGraphPtr prod_;
00087             SpaceInformationPtr lowSpace_;
00088         };
00089     }
00090 }
00091 
00092 #endif
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