SimpleSetup.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_CONTROL_SIMPLE_SETUP_
#define OMPL_CONTROL_SIMPLE_SETUP_
 
#include "ompl/base/Planner.h"
#include "ompl/control/SpaceInformation.h"
#include "ompl/control/PlannerData.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/control/PathControl.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/util/Console.h"
#include "ompl/util/Exception.h"
 
namespace ompl
{
    namespace control
    {
        OMPL_CLASS_FORWARD(SimpleSetup);
 
        class SimpleSetup
        {
        public:
            explicit SimpleSetup(const SpaceInformationPtr &si);
 
            explicit SimpleSetup(const ControlSpacePtr &space);
 
            virtual ~SimpleSetup() = default;
 
            const SpaceInformationPtr &getSpaceInformation() const
            {
                return si_;
            }
 
            const base::ProblemDefinitionPtr &getProblemDefinition() const
            {
                return pdef_;
            }
 
            base::ProblemDefinitionPtr &getProblemDefinition()
            {
                return pdef_;
            }
 
            const base::StateSpacePtr &getStateSpace() const
            {
                return si_->getStateSpace();
            }
 
            const ControlSpacePtr &getControlSpace() const
            {
                return si_->getControlSpace();
            }
 
            const base::StateValidityCheckerPtr &getStateValidityChecker() const
            {
                return si_->getStateValidityChecker();
            }
 
            const StatePropagatorPtr &getStatePropagator() const
            {
                return si_->getStatePropagator();
            }
 
            const base::GoalPtr &getGoal() const
            {
                return pdef_->getGoal();
            }
 
            const base::PlannerPtr &getPlanner() const
            {
                return planner_;
            }
 
            const base::PlannerAllocator &getPlannerAllocator() const
            {
                return pa_;
            }
 
            bool haveExactSolutionPath() const;
 
            bool haveSolutionPath() const
            {
                return pdef_->getSolutionPath() != nullptr;
            }
 
            PathControl &getSolutionPath() const;
 
            void getPlannerData(base::PlannerData &pd) const;
 
            void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
            {
                si_->setStateValidityChecker(svc);
            }
 
            void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
            {
                si_->setStateValidityChecker(svc);
            }
 
            void setStatePropagator(const StatePropagatorFn &sp)
            {
                si_->setStatePropagator(sp);
            }
 
            void setStatePropagator(const StatePropagatorPtr &sp)
            {
                si_->setStatePropagator(sp);
            }
 
            void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
            {
                pdef_->setOptimizationObjective(optimizationObjective);
            }
 
            void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal,
                                       const double threshold = std::numeric_limits<double>::epsilon())
            {
                pdef_->setStartAndGoalStates(start, goal, threshold);
            }
 
            void setGoalState(const base::ScopedState<> &goal,
                              const double threshold = std::numeric_limits<double>::epsilon())
            {
                pdef_->setGoalState(goal, threshold);
            }
 
            void addStartState(const base::ScopedState<> &state)
            {
                pdef_->addStartState(state);
            }
 
            void clearStartStates()
            {
                pdef_->clearStartStates();
            }
 
            void setStartState(const base::ScopedState<> &state)
            {
                clearStartStates();
                addStartState(state);
            }
 
            void setGoal(const base::GoalPtr &goal)
            {
                pdef_->setGoal(goal);
            }
 
            void setPlanner(const base::PlannerPtr &planner)
            {
                if (planner && planner->getSpaceInformation().get() != si_.get())
                    throw Exception("Planner instance does not match space information");
                planner_ = planner;
                configured_ = false;
            }
 
            void setPlannerAllocator(const base::PlannerAllocator &pa)
            {
                pa_ = pa;
                planner_.reset();
                configured_ = false;
            }
 
            virtual base::PlannerStatus solve(double time = 1.0);
 
            virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
 
            base::PlannerStatus getLastPlannerStatus() const
            {
                return last_status_;
            }
 
            double getLastPlanComputationTime() const
            {
                return planTime_;
            }
 
            virtual void clear();
 
            virtual void print(std::ostream &out = std::cout) const;
 
            virtual void setup();
 
        protected:
            SpaceInformationPtr si_;
 
            base::ProblemDefinitionPtr pdef_;
 
            base::PlannerPtr planner_;
 
            base::PlannerAllocator pa_;
 
            bool configured_;
 
            double planTime_;
 
            base::PlannerStatus last_status_;
        };
    }
}
#endif