KoulesSetup.h
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #ifndef DEMOS_KOULES_SIMPLESETUP_
38 #define DEMOS_KOULES_SIMPLESETUP_
39 
40 #include <ompl/control/SimpleSetup.h>
41 
42 OMPL_CLASS_FORWARD(KoulesSetup);
43 
45 class KoulesSetup : public ompl::control::SimpleSetup
46 {
47 public:
48  KoulesSetup(unsigned int numKoules, const std::string& plannerName,
49  const std::vector<double>& stateVec = std::vector<double>());
50  KoulesSetup(unsigned int numKoules, const std::string& plannerName, double kouleVel);
51 
52  // Given a planner name, return a planner instance that has been configured
53  // for the koules problem.
54  ompl::base::PlannerPtr getConfiguredPlannerInstance(const std::string& plannerName);
55 private:
56  void initialize(unsigned int numKoules, const std::string& plannerName,
57  const std::vector<double>& stateVec = std::vector<double>());
58 };
60 
61 #endif
A shared pointer wrapper for ompl::base::Planner.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:126