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  {
60  class PathGeometric : public base::Path
61  {
62  public:
64  PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
65  {
66  }
67 
69  PathGeometric(const PathGeometric &path);
70 
72  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
73 
75  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);
76 
77  ~PathGeometric() override
78  {
79  freeMemory();
80  }
81 
83  PathGeometric &operator=(const PathGeometric &other);
84 
90  base::Cost cost(const base::OptimizationObjectivePtr &obj) const override;
91 
93  double length() const override;
94 
96  bool check() const override;
97 
116  double smoothness() const;
117 
130  double clearance() const;
131 
133  void print(std::ostream &out) const override;
138  virtual void printAsMatrix(std::ostream &out) const;
139 
148  void interpolate(unsigned int count);
149 
154  void interpolate();
155 
157  void subdivide();
158 
160  void reverse();
161 
173  std::pair<bool, bool> checkAndRepair(unsigned int attempts);
174 
185  void overlay(const PathGeometric &over, unsigned int startIndex = 0);
186 
188  void append(const base::State *state);
189 
201  void append(const PathGeometric &path);
202 
204  void prepend(const base::State *state);
205 
208  void keepAfter(const base::State *state);
209 
212  void keepBefore(const base::State *state);
213 
215  void random();
216 
219  bool randomValid(unsigned int attempts);
227  int getClosestIndex(const base::State *state) const;
228 
231  std::vector<base::State *> &getStates()
232  {
233  return states_;
234  }
235 
237  base::State *getState(unsigned int index)
238  {
239  return states_[index];
240  }
241 
243  const base::State *getState(unsigned int index) const
244  {
245  return states_[index];
246  }
247 
249  std::size_t getStateCount() const
250  {
251  return states_.size();
252  }
253 
255  void clear();
256 
259  protected:
261  void freeMemory();
262 
264  void copyFrom(const PathGeometric &other);
265 
267  std::vector<base::State *> states_;
268  };
269  }
270 }
271 
272 #endif
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
Definition: PathGeometric.h:64
base::State * getState(unsigned int index)
Get the state located at index along the path.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Abstract definition of a path.
Definition: Path.h:67
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::base::OptimizationObjective.
Definition of a geometric path.
Definition: PathGeometric.h:60
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
std::vector< base::State * > states_
The list of states that make up the path.
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...