LTLProblemDefinition.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
38 #define OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
39 
40 #include "ompl/base/ProblemDefinition.h"
41 #include "ompl/control/planners/ltl/ProductGraph.h"
42 #include "ompl/control/planners/ltl/LTLSpaceInformation.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
49 
50  OMPL_CLASS_FORWARD(LTLProblemDefinition);
52 
55  class LTLProblemDefinition : public base::ProblemDefinition
56  {
57  public:
58  LTLProblemDefinition(const control::LTLSpaceInformationPtr &ltlsi);
59 
60  ~LTLProblemDefinition() override = default;
61 
62  void addLowerStartState(const base::State *s);
63 
64  base::PathPtr getLowerSolutionPath() const;
65 
66  protected:
67  void createGoal();
68 
70  };
71  }
72 }
73 
74 #endif
A shared pointer wrapper for ompl::control::LTLSpaceInformation.
Main namespace. Contains everything in this library.