appUtil.h

/*********************************************************************
* Rice University Software Distribution License
*
* Copyright (c) 2010, Rice University
* All Rights Reserved.
*
* For a full description see the file named LICENSE.
*
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#include <ompl/base/ProblemDefinition.h>
#include <ompl/control/planners/syclop/Decomposition.h>
#include "omplapp/geometry/RigidBodyGeometry.h"
 
namespace ompl
{
 
    namespace app
    {
 
        void InferProblemDefinitionBounds(const base::ProblemDefinitionPtr &pdef, const GeometricStateExtractor &se, double factor, double add,
                                          unsigned int robotCount, const base::StateSpacePtr &space, MotionModel mtype);
        void InferEnvironmentBounds(const base::StateSpacePtr &space, const RigidBodyGeometry &rbg);
 
        base::ProjectionEvaluatorPtr allocGeometricStateProjector(const base::StateSpacePtr &space, MotionModel mtype,
                                                                  const base::StateSpacePtr &gspace, const GeometricStateExtractor &se);
 
        control::DecompositionPtr allocDecomposition(const base::StateSpacePtr &space, MotionModel mtype,
            const base::StateSpacePtr &gspace);
 
        ompl::base::OptimizationObjectivePtr getOptimizationObjective(const base::SpaceInformationPtr &si, const std::string &objective, double threshold);
 
    }
 
}