KoulesSetup.h

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/* Author: Beck Chen, Mark Moll */
 
#ifndef DEMOS_KOULES_SIMPLESETUP_
#define DEMOS_KOULES_SIMPLESETUP_
 
#include <ompl/control/SimpleSetup.h>
 
OMPL_CLASS_FORWARD(KoulesSetup);

class KoulesSetup : public ompl::control::SimpleSetup
{
public:
    KoulesSetup(unsigned int numKoules, const std::string &plannerName,
                const std::vector<double> &stateVec = std::vector<double>());
    KoulesSetup(unsigned int numKoules, const std::string &plannerName, double kouleVel);
 
    // Given a planner name, return a planner instance that has been configured
    // for the koules problem.
    ompl::base::PlannerPtr getConfiguredPlannerInstance(const std::string &plannerName);
 
private:
    void initialize(unsigned int numKoules, const std::string &plannerName,
                    const std::vector<double> &stateVec = std::vector<double>());
};
 
#endif