PathGeometric.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2008, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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,
81  const base::State *state1, const base::State *state2);
82 
84  PathGeometric(const base::SpaceInformationPtr &si,
85  std::vector<const base::State *> &states);
86 
87  ~PathGeometric() override
88  {
89  freeMemory();
90  }
91 
93  PathGeometric &operator=(const PathGeometric &other);
94 
100  base::Cost cost(const base::OptimizationObjectivePtr &obj) const override;
101 
103  double length() const override;
104 
106  bool check() const override;
107 
126  double smoothness() const;
127 
140  double clearance() const;
141 
143  void print(std::ostream &out) const override;
144 
149  virtual void printAsMatrix(std::ostream &out) const;
150 
159  void interpolate(unsigned int count);
160 
165  void interpolate();
166 
168  void subdivide();
169 
171  void reverse();
172 
184  std::pair<bool, bool> checkAndRepair(unsigned int attempts);
185 
196  void overlay(const PathGeometric &over, unsigned int startIndex = 0);
197 
199  void append(const base::State *state);
200 
212  void append(const PathGeometric &path);
213 
215  void prepend(const base::State *state);
216 
219  void keepAfter(const base::State *state);
220 
223  void keepBefore(const base::State *state);
224 
226  void random();
227 
230  bool randomValid(unsigned int attempts);
238  int getClosestIndex(const base::State *state) const;
239 
242  std::vector<base::State *> &getStates()
243  {
244  return states_;
245  }
246 
248  base::State *getState(unsigned int index)
249  {
250  return states_[index];
251  }
252 
254  const base::State *getState(unsigned int index) const
255  {
256  return states_[index];
257  }
258 
260  std::size_t getStateCount() const
261  {
262  return states_.size();
263  }
264 
266  void clear();
267 
270  protected:
272  void freeMemory();
273 
275  void copyFrom(const PathGeometric &other);
276 
278  std::vector<base::State *> states_;
279  };
280  }
281 }
282 
283 #endif
void reverse()
Reverse 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.
void clear()
Remove all states and clear memory.
void prepend(const base::State *state)
Prepend state to the start of this path. The memory for state is copied.
Definition of an abstract state.
Definition: State.h:113
double smoothness() const
Compute a notion of smoothness for this path. The closer the value is to 0, the smoother the path....
PathGeometric & operator=(const PathGeometric &other)
Assignment operator.
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...
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...
Definition of a geometric path.
Definition: PathGeometric.h:97
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...
void subdivide()
Add a state at the middle of each segment.
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.
std::vector< base::State * > states_
The list of states that make up the path.
std::size_t getStateCount() const
Get the number of states (way-points) that make up this 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 append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
void interpolate()
Insert a number of states in a path so that the path is made up of (approximately) the states checked...
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 ...
double length() const override
Compute the length of a geometric path (sum of lengths of segments that make up the path)
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 copyFrom(const PathGeometric &other)
Copy data to this path from another path instance.
void random()
Set this path to a random segment.
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 ...
void print(std::ostream &out) const override
Print the path to a stream.
double clearance() const
Compute the clearance of the way-points along the path (no interpolation is performed)....
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
base::State * getState(unsigned int index)
Get the state located at index along the path.
Main namespace. Contains everything in this library.