ompl/control/planners/ltl/Automaton.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_LTL_AUTOMATON_
00038 #define OMPL_CONTROL_PLANNERS_LTL_AUTOMATON_
00039 
00040 #include "ompl/control/planners/ltl/World.h"
00041 #include "ompl/util/ClassForward.h"
00042 #include <boost/unordered_map.hpp>
00043 #include <limits>
00044 #include <ostream>
00045 #include <vector>
00046 
00047 namespace ompl
00048 {
00049     namespace control
00050     {
00052 
00053         OMPL_CLASS_FORWARD(Automaton);
00055 
00069         class Automaton
00070         {
00071         public:
00076             struct TransitionMap
00077             {
00081                 int eval(const World& w) const;
00082 
00083                 TransitionMap& operator=(const TransitionMap& tm)
00084                 {
00085                     entries = tm.entries;
00086                     return *this;
00087                 }
00088 
00089                 mutable boost::unordered_map<World, unsigned int> entries;
00090             };
00091 
00093             Automaton(unsigned int numProps, unsigned int numStates = 0);
00094 
00096             unsigned int addState(bool accepting = false);
00097 
00099             void setAccepting(unsigned int s, bool a);
00100 
00102             bool isAccepting(unsigned int s) const;
00103 
00105             void setStartState(unsigned int s);
00106 
00109             int getStartState(void) const;
00110 
00112             void addTransition(unsigned int src, const World& w,
00113                 unsigned int dest);
00114 
00120             bool run(const std::vector<World>& trace) const;
00121 
00125             int step(int state, const World& w) const;
00126 
00128             TransitionMap& getTransitions(unsigned int src);
00129 
00131             unsigned int numStates(void) const;
00132 
00134             unsigned int numTransitions(void) const;
00135 
00137             unsigned int numProps(void) const;
00138 
00140             void print(std::ostream& out) const;
00141 
00144             unsigned int distFromAccepting(unsigned int s, unsigned int maxDist = std::numeric_limits<unsigned int>::max()) const;
00145 
00147             static AutomatonPtr AcceptingAutomaton(unsigned int numProps);
00148 
00151             static AutomatonPtr CoverageAutomaton(unsigned int numProps, const std::vector<unsigned int>& covProps);
00152 
00155             static AutomatonPtr SequenceAutomaton(unsigned int numProps, const std::vector<unsigned int>& seqProps);
00156 
00159             static AutomatonPtr DisjunctionAutomaton(unsigned int numProps, const std::vector<unsigned int>& disjProps);
00160 
00163             static AutomatonPtr AvoidanceAutomaton(unsigned int numProps, const std::vector<unsigned int>& avoidProps);
00164 
00168             static AutomatonPtr CoverageAutomaton(unsigned int numProps);
00169 
00173             static AutomatonPtr SequenceAutomaton(unsigned int numProps);
00174 
00177             static AutomatonPtr DisjunctionAutomaton(unsigned int numProps);
00178 
00179         protected:
00180             unsigned int numProps_;
00181             unsigned int numStates_;
00182             int startState_;
00183             std::vector<bool> accepting_;
00184             std::vector<TransitionMap> transitions_;
00185             mutable std::vector<unsigned int> distances_;
00186         };
00187     }
00188 }
00189 #endif
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