LTLSpaceInformation.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
38 #define OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
39 
40 #include "ompl/base/spaces/DiscreteStateSpace.h"
41 #include "ompl/control/SpaceInformation.h"
42 #include "ompl/control/planners/ltl/ProductGraph.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
49 
50  OMPL_CLASS_FORWARD(LTLSpaceInformation);
52 
56  {
57  public:
59 
60  ~LTLSpaceInformation() override = default;
61 
62  void setup() override;
63 
64  const ProductGraphPtr &getProductGraph() const
65  {
66  return prod_;
67  }
68 
69  const SpaceInformationPtr &getLowSpace()
70  {
71  return lowSpace_;
72  }
73 
74  void getFullState(const base::State *low, base::State *full);
75 
76  base::State *getLowLevelState(base::State *s);
77  const base::State *getLowLevelState(const base::State *s);
78 
79  ProductGraph::State *getProdGraphState(const base::State *s) const;
80 
81  protected:
82  enum SpaceIndex
83  {
84  LOW_LEVEL = 0,
85  REGION = 1,
86  COSAFE = 2,
87  SAFE = 3
88  };
89  // Creates a new state propagator which uses the user-defined propagator
90  // defined in low state space, followed by automaton-defined transition rules
91  // for the co-safe and safe automata in prod.
92  void extendPropagator(const SpaceInformationPtr &oldsi);
93 
94  // Creates a new state validity checker which uses the user-defined validity checker
95  // defined in low state space and also checks for valid states in the automata in prod.
96  void extendValidityChecker(const SpaceInformationPtr &oldsi);
97 
98  ProductGraphPtr prod_;
99  SpaceInformationPtr lowSpace_;
100  };
101  }
102 }
103 
104 #endif
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A State of a ProductGraph represents a vertex in the graph-based Cartesian product represented by the...
Definition: ProductGraph.h:83
void setup() override
Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::control::SpaceInformation.
A shared pointer wrapper for ompl::control::ProductGraph.
Space information containing necessary information for planning with controls. setup() needs to be ca...