ompl/extensions/opende/OpenDESimpleSetup.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_EXTENSION_OPENDE_SIMPLE_SETUP_
00038 #define OMPL_EXTENSION_OPENDE_SIMPLE_SETUP_
00039 
00040 #include "ompl/control/SimpleSetup.h"
00041 #include "ompl/extensions/opende/OpenDEStateValidityChecker.h"
00042 #include "ompl/extensions/opende/OpenDEStatePropagator.h"
00043 #include "ompl/extensions/opende/OpenDEControlSpace.h"
00044 
00045 namespace ompl
00046 {
00047 
00048     namespace control
00049     {
00050 
00053         class OpenDESimpleSetup : public SimpleSetup
00054         {
00055         public:
00056 
00058             explicit
00059             OpenDESimpleSetup(const ControlSpacePtr &space);
00060 
00062             explicit
00063             OpenDESimpleSetup(const base::StateSpacePtr &space);
00064 
00069             explicit
00070             OpenDESimpleSetup(const OpenDEEnvironmentPtr &env);
00071 
00072             virtual ~OpenDESimpleSetup()
00073             {
00074             }
00075 
00077             const OpenDEEnvironmentPtr& getEnvironment() const
00078             {
00079                 return getStateSpace()->as<OpenDEStateSpace>()->getEnvironment();
00080             }
00081 
00083             base::ScopedState<OpenDEStateSpace> getCurrentState() const;
00084 
00086             void setCurrentState(const base::ScopedState<> &state);
00087 
00089             void setCurrentState(const base::State *state);
00090 
00092             void setVolumeBounds(const base::RealVectorBounds &bounds)
00093             {
00094                 getStateSpace()->as<OpenDEStateSpace>()->setVolumeBounds(bounds);
00095             }
00096 
00098             void setLinearVelocityBounds(const base::RealVectorBounds &bounds)
00099             {
00100                 getStateSpace()->as<OpenDEStateSpace>()->setLinearVelocityBounds(bounds);
00101             }
00102 
00104             void setAngularVelocityBounds(const base::RealVectorBounds &bounds)
00105             {
00106                 getStateSpace()->as<OpenDEStateSpace>()->setAngularVelocityBounds(bounds);
00107             }
00108 
00113             void playPath(const base::PathPtr &path, double timeFactor = 1.0) const;
00114 
00116             void playSolutionPath(double timeFactor = 1.0) const;
00117 
00120             base::PathPtr simulateControl(const double *control, unsigned int steps) const;
00121 
00124             base::PathPtr simulateControl(const Control *control, unsigned int steps) const;
00125 
00130             base::PathPtr simulate(unsigned int steps) const;
00131 
00132             virtual void setup();
00133 
00134         private:
00135 
00136             void useEnvParams();
00137 
00138         };
00139     }
00140 
00141 }
00142 #endif
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