LTLSpaceInformation.h

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/* Author: Matt Maly */

#ifndef OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
#define OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_

#include "ompl/base/spaces/DiscreteStateSpace.h"
#include "ompl/control/SpaceInformation.h"
#include "ompl/control/planners/ltl/ProductGraph.h"

namespace ompl
{
    namespace control
    {

        OMPL_CLASS_FORWARD(LTLSpaceInformation);

        class LTLSpaceInformation : public SpaceInformation
        {
        public:
            LTLSpaceInformation(const SpaceInformationPtr &si, const ProductGraphPtr &prod);

            ~LTLSpaceInformation() override = default;

            void setup() override;

            const ProductGraphPtr &getProductGraph() const
            {
                return prod_;
            }

            const SpaceInformationPtr &getLowSpace()
            {
                return lowSpace_;
            }

            void getFullState(const base::State *low, base::State *full);

            base::State *getLowLevelState(base::State *s);
            const base::State *getLowLevelState(const base::State *s);

            ProductGraph::State *getProdGraphState(const base::State *s) const;

        protected:
            enum SpaceIndex
            {
                LOW_LEVEL = 0,
                REGION = 1,
                COSAFE = 2,
                SAFE = 3
            };
            // Creates a new state propagator which uses the user-defined propagator
            // defined in low state space, followed by automaton-defined transition rules
            // for the co-safe and safe automata in prod.
            void extendPropagator(const SpaceInformationPtr &oldsi);

            // Creates a new state validity checker which uses the user-defined validity checker
            // defined in low state space and also checks for valid states in the automata in prod.
            void extendValidityChecker(const SpaceInformationPtr &oldsi);

            ProductGraphPtr prod_;
            SpaceInformationPtr lowSpace_;
        };
    }
}

#endif