PathGeometric.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
38 #define OMPL_GEOMETRIC_PATH_GEOMETRIC_
39 
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/Path.h"
42 #include <vector>
43 #include <utility>
44 
45 namespace ompl
46 {
47  namespace base
48  {
50  OMPL_CLASS_FORWARD(OptimizationObjective);
52  }
53 
55  namespace geometric
56  {
58 
59  OMPL_CLASS_FORWARD(PathGeometric);
61 
65  class PathGeometric : public base::Path
66  {
67  public:
69  PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
70  {
71  }
72 
74  PathGeometric(const PathGeometric &path);
75 
77  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
78 
80  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);
81 
82  ~PathGeometric() override
83  {
84  freeMemory();
85  }
86 
88  PathGeometric &operator=(const PathGeometric &other);
89 
95  base::Cost cost(const base::OptimizationObjectivePtr &obj) const override;
96 
98  double length() const override;
99 
101  bool check() const override;
102 
121  double smoothness() const;
122 
135  double clearance() const;
136 
138  void print(std::ostream &out) const override;
139 
144  virtual void printAsMatrix(std::ostream &out) const;
145 
154  void interpolate(unsigned int count);
155 
160  void interpolate();
161 
163  void subdivide();
164 
166  void reverse();
167 
179  std::pair<bool, bool> checkAndRepair(unsigned int attempts);
180 
191  void overlay(const PathGeometric &over, unsigned int startIndex = 0);
192 
194  void append(const base::State *state);
195 
207  void append(const PathGeometric &path);
208 
210  void prepend(const base::State *state);
211 
214  void keepAfter(const base::State *state);
215 
218  void keepBefore(const base::State *state);
219 
221  void random();
222 
225  bool randomValid(unsigned int attempts);
233  int getClosestIndex(const base::State *state) const;
234 
237  std::vector<base::State *> &getStates()
238  {
239  return states_;
240  }
241 
243  base::State *getState(unsigned int index)
244  {
245  return states_[index];
246  }
247 
249  const base::State *getState(unsigned int index) const
250  {
251  return states_[index];
252  }
253 
255  std::size_t getStateCount() const
256  {
257  return states_.size();
258  }
259 
261  void clear();
262 
265  protected:
267  void freeMemory();
268 
270  void copyFrom(const PathGeometric &other);
271 
273  std::vector<base::State *> states_;
274  };
275  }
276 }
277 
278 #endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Abstract definition of a path.
Definition: Path.h:68
Definition of an abstract state.
Definition: State.h:50
Definition of a geometric path.
Definition: PathGeometric.h:66
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
double smoothness() const
Compute a notion of smoothness for this path. The closer the value is to 0, the smoother the path....
bool randomValid(unsigned int attempts)
Set this path to a random valid segment. Sample attempts times for valid segments....
bool check() const override
Check if the path is valid.
double clearance() const
Compute the clearance of the way-points along the path (no interpolation is performed)....
void print(std::ostream &out) const override
Print the path to a stream.
std::pair< bool, bool > checkAndRepair(unsigned int attempts)
Check if the path is valid. If it is not, attempts are made to fix the path by sampling around invali...
void keepAfter(const base::State *state)
Keep the part of the path that is after state (getClosestIndex() is used to find out which way-point ...
virtual void printAsMatrix(std::ostream &out) const
Print the path as a real-valued matrix where the i-th row represents the i-th state along the path....
void freeMemory()
Free the memory corresponding to the states on this path.
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
PathGeometric & operator=(const PathGeometric &other)
Assignment operator.
void prepend(const base::State *state)
Prepend state to the start of this path. The memory for state is copied.
void clear()
Remove all states and clear memory.
void subdivide()
Add a state at the middle of each segment.
void random()
Set this path to a random segment.
void reverse()
Reverse the path.
void keepBefore(const base::State *state)
Keep the part of the path that is before state (getClosestIndex() is used to find out which way-point...
void copyFrom(const PathGeometric &other)
Copy data to this path from another path instance.
void interpolate()
Insert a number of states in a path so that the path is made up of (approximately) the states checked...
double length() const override
Compute the length of a geometric path (sum of lengths of segments that make up the path)
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
base::Cost cost(const base::OptimizationObjectivePtr &obj) const override
The sum of the costs for the sequence of segments that make up the path, computed using OptimizationO...
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
Definition: PathGeometric.h:69
base::State * getState(unsigned int index)
Get the state located at index along the path.
std::vector< base::State * > states_
The list of states that make up the path.
int getClosestIndex(const base::State *state) const
Get the index of the way-point along the path that is closest to state. Returns -1 for an empty path.
void overlay(const PathGeometric &over, unsigned int startIndex=0)
Overlay the path over on top of the current path. States are added to the current path if needed (by ...
std::vector< base::State * > & getStates()
Get the states that make up the path (as a reference, so it can be modified, hence the function is no...
Main namespace. Contains everything in this library.
Definition: AppBase.h:22