SE2RigidBodyPlanning.h

/*********************************************************************
* Rice University Software Distribution License
*
* Copyright (c) 2010, Rice University
* All Rights Reserved.
*
* For a full description see the file named LICENSE.
*
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPLAPP_SE2_RIGID_BODY_PLANNING_
#define OMPLAPP_SE2_RIGID_BODY_PLANNING_
 
#include <ompl/base/spaces/SE2StateSpace.h>
 
#include "omplapp/apps/AppBase.h"
 
namespace ompl
{
    namespace app
    {
 
        class SE2RigidBodyPlanning : public AppBase<AppType::GEOMETRIC>
        {
        public:
            SE2RigidBodyPlanning() : AppBase<AppType::GEOMETRIC>(std::make_shared<base::SE2StateSpace>(), Motion_2D)
            {
                name_ = "Rigid body planning (2D)";
            }
            template <typename CarStateSpacePtr>
            explicit SE2RigidBodyPlanning(CarStateSpacePtr carstatespace)
              : AppBase<AppType::GEOMETRIC>(carstatespace, Motion_2D)
            {
                name_ = "Geometric car-like planning (2D)";
            }
 
            ~SE2RigidBodyPlanning() override = default;
 
            bool isSelfCollisionEnabled() const override
            {
                return false;
            }
 
            base::ScopedState<> getDefaultStartState() const override;
 
            base::ScopedState<> getFullStateFromGeometricComponent(const base::ScopedState<> &state) const override
            {
                return state;
            }
 
            const base::StateSpacePtr& getGeometricComponentStateSpace() const override
            {
                return getStateSpace();
            }
 
            unsigned int getRobotCount() const override
            {
                return 1;
            }
 
        protected:
 
            const base::State* getGeometricComponentStateInternal(const base::State* state, unsigned int /*index*/) const override
            {
                return state;
            }
 
        };
 
    }
}
 
#endif