ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h
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00034 
00035 /* Authors: Mark Moll */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_CFOREST_CFORESTSTATESPACEWRAPPER_
00038 #define OMPL_GEOMETRIC_PLANNERS_CFOREST_CFORESTSTATESPACEWRAPPER_
00039 
00040 #include "ompl/geometric/planners/cforest/CForestStateSampler.h"
00041 #include "ompl/base/StateSpace.h"
00042 #include "ompl/base/Planner.h"
00043 
00044 namespace ompl
00045 {
00046     namespace geometric
00047     {
00048         class CForest;
00049     }
00050 
00051     namespace base
00052     {
00055         class CForestStateSpaceWrapper : public StateSpace
00056         {
00057         public:
00058             CForestStateSpaceWrapper(geometric::CForest *cforest, base::StateSpace *space)
00059                 : cforest_(cforest), space_(space), planner_(NULL)
00060             {
00061                 setName(space->getName() + "CForestWrapper");
00062             }
00063 
00064             ~CForestStateSpaceWrapper()
00065             {
00066             }
00067 
00068             void setPlanner(base::Planner *planner)
00069             {
00070                 planner_ = planner;
00071             }
00072 
00073             const base::Planner* getPlanner() const
00074             {
00075                 return planner_;
00076             }
00077 
00078             geometric::CForest* getCForestInstance() const
00079             {
00080                 return cforest_;
00081             }
00082 
00083             virtual StateSamplerPtr allocDefaultStateSampler() const;
00084 
00085             virtual StateSamplerPtr allocStateSampler() const;
00086 
00087             virtual void setup();
00088 
00089             virtual bool isCompound() const
00090             {
00091                 return space_->isCompound();
00092             }
00093             virtual bool isDiscrete() const
00094             {
00095                 return space_->isDiscrete();
00096             }
00097             virtual bool isHybrid() const
00098             {
00099                 return space_->isHybrid();
00100             }
00101             virtual bool isMetricSpace() const
00102             {
00103                 return space_->isMetricSpace();
00104             }
00105             virtual bool hasSymmetricDistance() const
00106             {
00107                 return space_->hasSymmetricDistance();
00108             }
00109             virtual bool hasSymmetricInterpolate() const
00110             {
00111                 return space_->hasSymmetricInterpolate();
00112             }
00113             virtual double getLongestValidSegmentFraction() const
00114             {
00115                 return space_->getLongestValidSegmentFraction();
00116             }
00117             virtual void setLongestValidSegmentFraction(double segmentFraction)
00118             {
00119                 space_->setLongestValidSegmentFraction(segmentFraction);
00120             }
00121             virtual unsigned int validSegmentCount(const State *state1, const State *state2) const
00122             {
00123                 return space_->validSegmentCount(state1, state2);
00124             }
00125             virtual unsigned int getDimension() const
00126             {
00127                 return space_->getDimension();
00128             }
00129             virtual double getMaximumExtent() const
00130             {
00131                 return space_->getMaximumExtent();
00132             }
00133             virtual double getMeasure() const
00134             {
00135                 return space_->getMeasure();
00136             }
00137             virtual void enforceBounds(State *state) const
00138             {
00139                 space_->enforceBounds(state);
00140             }
00141             virtual bool satisfiesBounds(const State *state) const
00142             {
00143                 return space_->satisfiesBounds(state);
00144             }
00145             virtual void copyState(State *destination, const State *source) const
00146             {
00147                 space_->copyState(destination, source);
00148             }
00149             virtual double distance(const State *state1, const State *state2) const
00150             {
00151                 return space_->distance(state1, state2);
00152             }
00153             virtual unsigned int getSerializationLength() const
00154             {
00155                 return space_->getSerializationLength();
00156             }
00157             virtual void serialize(void *serialization, const State *state) const
00158             {
00159                 space_->serialize(serialization, state);
00160             }
00161             virtual void deserialize(State *state, const void *serialization) const
00162             {
00163                 space_->deserialize(state, serialization);
00164             }
00165             virtual bool equalStates(const State *state1, const State *state2) const
00166             {
00167                 return space_->equalStates(state1, state2);
00168             }
00169             virtual void interpolate(const State *from, const State *to, const double t, State *state) const
00170             {
00171                 space_->interpolate(from, to, t, state);
00172             }
00173             virtual State* allocState() const
00174             {
00175                 return space_->allocState();
00176             }
00177             virtual void freeState(State *state) const
00178             {
00179                 space_->freeState(state);
00180             }
00181             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const
00182             {
00183                 return space_->getValueAddressAtIndex(state, index);
00184             }
00185             virtual void registerProjections()
00186             {
00187                 space_->registerProjections();
00188             }
00189             virtual void printState(const State *state, std::ostream &out) const
00190             {
00191                 space_->printState(state, out);
00192             }
00193             virtual void printSettings(std::ostream &out) const
00194             {
00195                 space_->printSettings(out);
00196             }
00197             virtual void printProjections(std::ostream &out) const
00198             {
00199                 space_->printProjections(out);
00200             }
00201             virtual void sanityChecks(double zero, double eps, unsigned int flags) const
00202             {
00203                 space_->sanityChecks(zero, eps, flags);
00204             }
00205             virtual void sanityChecks() const
00206             {
00207                 space_->sanityChecks();
00208             }
00209             virtual StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const
00210             {
00211                 return space_->allocSubspaceStateSampler(subspace);
00212             }
00213             virtual void computeLocations()
00214             {
00215                 space_->computeLocations();
00216             }
00217 
00218         protected:
00219             geometric::CForest    *cforest_;
00220             StateSpace            *space_;
00221             Planner               *planner_;
00222         };
00223     }
00224 }
00225 
00226 #endif
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