KoulesSetup.h

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/* Author: Beck Chen, Mark Moll */

#ifndef DEMOS_KOULES_SIMPLESETUP_
#define DEMOS_KOULES_SIMPLESETUP_

#include <ompl/control/SimpleSetup.h>

OMPL_CLASS_FORWARD(KoulesSetup);

class KoulesSetup : public ompl::control::SimpleSetup
{
public:
    KoulesSetup(unsigned int numKoules, const std::string& plannerName,
        const std::vector<double>& stateVec = std::vector<double>());
    KoulesSetup(unsigned int numKoules, const std::string& plannerName, double kouleVel);

    // Given a planner name, return a planner instance that has been configured
    // for the koules problem.
    ompl::base::PlannerPtr getConfiguredPlannerInstance(const std::string& plannerName);
private:
    void initialize(unsigned int numKoules, const std::string& plannerName,
        const std::vector<double>& stateVec = std::vector<double>());
};

#endif