PathGeometric.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
#define OMPL_GEOMETRIC_PATH_GEOMETRIC_

#include "ompl/base/SpaceInformation.h"
#include "ompl/base/Path.h"
#include <vector>
#include <utility>

namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(OptimizationObjective);
    }

    namespace geometric
    {
        class PathGeometric : public base::Path
        {
        public:
            PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
            {
            }

            PathGeometric(const PathGeometric &path);

            PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);

            PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);

            ~PathGeometric() override
            {
                freeMemory();
            }

            PathGeometric &operator=(const PathGeometric &other);

            base::Cost cost(const base::OptimizationObjectivePtr &obj) const override;

            double length() const override;

            bool check() const override;

            double smoothness() const;

            double clearance() const;

            void print(std::ostream &out) const override;
            virtual void printAsMatrix(std::ostream &out) const;

            void interpolate(unsigned int count);

            void interpolate();

            void subdivide();

            void reverse();

            std::pair<bool, bool> checkAndRepair(unsigned int attempts);

            void overlay(const PathGeometric &over, unsigned int startIndex = 0);

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

            void append(const PathGeometric &path);

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

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

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

            void random();

            bool randomValid(unsigned int attempts);
            int getClosestIndex(const base::State *state) const;

            std::vector<base::State *> &getStates()
            {
                return states_;
            }

            base::State *getState(unsigned int index)
            {
                return states_[index];
            }

            const base::State *getState(unsigned int index) const
            {
                return states_[index];
            }

            std::size_t getStateCount() const
            {
                return states_.size();
            }

            void clear();

        protected:
            void freeMemory();

            void copyFrom(const PathGeometric &other);

            std::vector<base::State *> states_;
        };
    }
}

#endif