LTLProblemDefinition.h

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/* Author: Matt Maly */
 
#ifndef OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
#define OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
 
#include "ompl/base/ProblemDefinition.h"
#include "ompl/control/planners/ltl/ProductGraph.h"
#include "ompl/control/planners/ltl/LTLSpaceInformation.h"
 
namespace ompl
{
    namespace control
    {

        OMPL_CLASS_FORWARD(LTLProblemDefinition);

        class LTLProblemDefinition : public base::ProblemDefinition
        {
        public:
            LTLProblemDefinition(const control::LTLSpaceInformationPtr &ltlsi);
 
            ~LTLProblemDefinition() override = default;
 
            void addLowerStartState(const base::State *s);
 
            base::PathPtr getLowerSolutionPath() const;
 
        protected:
            void createGoal();
 
            LTLSpaceInformationPtr ltlsi_;
        };
    }  // namespace control
}  // namespace ompl
 
#endif