PathGeometric.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
#define OMPL_GEOMETRIC_PATH_GEOMETRIC_
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/Path.h"
#include <vector>
#include <utility>
 
namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(OptimizationObjective);
    }
 
    namespace geometric
    {
 
        OMPL_CLASS_FORWARD(PathGeometric);
 
        class PathGeometric : public base::Path
        {
        public:
            PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
            {
            }
 
            PathGeometric(const PathGeometric &path);
 
            PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
 
            PathGeometric(const base::SpaceInformationPtr &si, 
                const base::State *state1, const base::State *state2);
 
            PathGeometric(const base::SpaceInformationPtr &si, 
                std::vector<const base::State *> &states);
 
            ~PathGeometric() override
            {
                freeMemory();
            }
 
            PathGeometric &operator=(const PathGeometric &other);
 
            base::Cost cost(const base::OptimizationObjectivePtr &obj) const override;
 
            double length() const override;
 
            bool check() const override;
 
            double smoothness() const;
 
            double clearance() const;
 
            void print(std::ostream &out) const override;
 
            virtual void printAsMatrix(std::ostream &out) const;
 
            void interpolate(unsigned int count);
 
            void interpolate();
 
            void subdivide();
 
            void reverse();
 
            std::pair<bool, bool> checkAndRepair(unsigned int attempts);
 
            void overlay(const PathGeometric &over, unsigned int startIndex = 0);
 
            void append(const base::State *state);
 
            void append(const PathGeometric &path);
 
            void prepend(const base::State *state);
 
            void keepAfter(const base::State *state);
 
            void keepBefore(const base::State *state);
 
            void random();
 
            bool randomValid(unsigned int attempts);
            int getClosestIndex(const base::State *state) const;
 
            std::vector<base::State *> &getStates()
            {
                return states_;
            }
 
            base::State *getState(unsigned int index)
            {
                return states_[index];
            }
 
            const base::State *getState(unsigned int index) const
            {
                return states_[index];
            }
 
            std::size_t getStateCount() const
            {
                return states_.size();
            }
 
            void clear();
 
        protected:
            void freeMemory();
 
            void copyFrom(const PathGeometric &other);
 
            std::vector<base::State *> states_;
        };
    }
}
 
#endif