LTLProblemDefinition.cpp
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34 
35 /* Author: Matt Maly */
36 
37 #include "ompl/control/PathControl.h"
38 #include "ompl/control/planners/ltl/LTLProblemDefinition.h"
39 #include "ompl/control/planners/ltl/LTLSpaceInformation.h"
40 #include "ompl/base/ProblemDefinition.h"
41 
42 namespace ob = ompl::base;
43 namespace oc = ompl::control;
44 
45 oc::LTLProblemDefinition::LTLProblemDefinition(const LTLSpaceInformationPtr &ltlsi)
46  : ob::ProblemDefinition(ltlsi), ltlsi_(ltlsi)
47 {
48  createGoal();
49 }
50 
51 void oc::LTLProblemDefinition::addLowerStartState(const ob::State *s)
52 {
54  ltlsi_->getFullState(s, fullStart.get());
55  addStartState(fullStart);
56 }
57 
58 ob::PathPtr oc::LTLProblemDefinition::getLowerSolutionPath() const
59 {
60  PathControl *fullPath = static_cast<PathControl *>(getSolutionPath().get());
61  auto lowPath(std::make_shared<PathControl>(ltlsi_->getLowSpace()));
62 
63  if (fullPath->getStateCount() > 0)
64  {
65  for (size_t i = 0; i < fullPath->getStateCount() - 1; ++i)
66  lowPath->append(ltlsi_->getLowLevelState(fullPath->getState(i)), fullPath->getControl(i),
67  fullPath->getControlDuration(i));
68 
69  // The last state does not have a control
70  lowPath->append(ltlsi_->getLowLevelState(fullPath->getState(fullPath->getStateCount() - 1)));
71  }
72 
73  return lowPath;
74 }
75 
76 void oc::LTLProblemDefinition::createGoal()
77 {
78  class LTLGoal : public base::Goal
79  {
80  public:
81  LTLGoal(const LTLSpaceInformationPtr &ltlsi) : ob::Goal(ltlsi), ltlsi_(ltlsi), prod_(ltlsi->getProductGraph())
82  {
83  }
84  ~LTLGoal() override = default;
85  bool isSatisfied(const ob::State *s) const override
86  {
87  return prod_->isSolution(ltlsi_->getProdGraphState(s));
88  }
89 
90  protected:
91  const LTLSpaceInformationPtr ltlsi_;
92  const ProductGraphPtr prod_;
93  };
94 
95  // Some compilers have trouble with LTLGoal being hidden in this function,
96  // and so we explicitly cast it to its base type.
97  setGoal(std::make_shared<LTLGoal>(ltlsi_));
98 }
const LTLSpaceInformation * ltlsi_
Handle to the control::SpaceInformation object.
Definition: LTLPlanner.h:180
Definition of a scoped state.
Definition: ScopedState.h:56
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
Definition of an abstract state.
Definition: State.h:49
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:406
A shared pointer wrapper for ompl::base::Path.