OpenDESimpleSetup.h

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/* Author: Ioan Sucan */

#ifndef OMPL_EXTENSION_OPENDE_SIMPLE_SETUP_
#define OMPL_EXTENSION_OPENDE_SIMPLE_SETUP_

#include "ompl/control/SimpleSetup.h"
#include "ompl/extensions/opende/OpenDEStateValidityChecker.h"
#include "ompl/extensions/opende/OpenDEStatePropagator.h"
#include "ompl/extensions/opende/OpenDEControlSpace.h"

namespace ompl
{
    namespace control
    {
        class OpenDESimpleSetup : public SimpleSetup
        {
        public:
            explicit OpenDESimpleSetup(const ControlSpacePtr &space);

            explicit OpenDESimpleSetup(const base::StateSpacePtr &space);

            explicit OpenDESimpleSetup(const OpenDEEnvironmentPtr &env);

            ~OpenDESimpleSetup() override = default;

            const OpenDEEnvironmentPtr &getEnvironment() const
            {
                return getStateSpace()->as<OpenDEStateSpace>()->getEnvironment();
            }

            base::ScopedState<OpenDEStateSpace> getCurrentState() const;

            void setCurrentState(const base::ScopedState<> &state);

            void setCurrentState(const base::State *state);

            void setVolumeBounds(const base::RealVectorBounds &bounds)
            {
                getStateSpace()->as<OpenDEStateSpace>()->setVolumeBounds(bounds);
            }

            void setLinearVelocityBounds(const base::RealVectorBounds &bounds)
            {
                getStateSpace()->as<OpenDEStateSpace>()->setLinearVelocityBounds(bounds);
            }

            void setAngularVelocityBounds(const base::RealVectorBounds &bounds)
            {
                getStateSpace()->as<OpenDEStateSpace>()->setAngularVelocityBounds(bounds);
            }

            void playPath(const base::PathPtr &path, double timeFactor = 1.0) const;

            void playSolutionPath(double timeFactor = 1.0) const;

            base::PathPtr simulateControl(const double *control, unsigned int steps) const;

            base::PathPtr simulateControl(const Control *control, unsigned int steps) const;

            base::PathPtr simulate(unsigned int steps) const;

            void setup() override;

        private:
            void useEnvParams();
        };
    }
}
#endif