LTLProblemDefinition.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2013, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
38 #define OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
39 
40 #include "ompl/base/ProblemDefinition.h"
41 #include "ompl/control/planners/ltl/ProductGraph.h"
42 #include "ompl/control/planners/ltl/LTLSpaceInformation.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
49 
50  OMPL_CLASS_FORWARD(LTLProblemDefinition);
52 
56  {
57  public:
59 
60  ~LTLProblemDefinition() override = default;
61 
62  void addLowerStartState(const base::State *s);
63 
64  base::PathPtr getLowerSolutionPath() const;
65 
66  protected:
67  void createGoal();
68 
70  };
71  }
72 }
73 
74 #endif
A shared pointer wrapper for ompl::control::LTLSpaceInformation.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Definition of an abstract state.
Definition: State.h:49
Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...
A shared pointer wrapper for ompl::base::Path.