MorseSimpleSetup.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Authors: Ioan Sucan, Caleb Voss */
 
#ifndef OMPL_EXTENSION_MORSE_SIMPLE_SETUP_
#define OMPL_EXTENSION_MORSE_SIMPLE_SETUP_
 
#include "ompl/control/SimpleSetup.h"
#include "ompl/extensions/morse/MorseEnvironment.h"
#include "ompl/extensions/morse/MorseStateSpace.h"
 
namespace ompl
{
    namespace control
    {
        class MorseSimpleSetup : public SimpleSetup
        {
        public:
            const base::MorseEnvironmentPtr env_;
 
            MorseSimpleSetup(const base::MorseEnvironmentPtr &env);
 
            virtual ~MorseSimpleSetup()
            {
            }
 
            const base::MorseEnvironmentPtr &getEnvironment() const
            {
                return env_;
            }
 
            base::ScopedState<base::MorseStateSpace> getCurrentState() const;
 
            void setCurrentState(const base::ScopedState<> &state);
 
            void setCurrentState(const base::State *state);
 
            void setup() override;
 
            base::PlannerStatus solve();
 
            void playPath(const base::PathPtr &path) const;
 
            void playSolutionPath() const;
 
            base::PathPtr simulateControl(const double *control, unsigned int steps) const;
 
            base::PathPtr simulateControl(const Control *control, unsigned int steps) const;
 
            base::PathPtr simulate(unsigned int steps) const;
        };
    }
}
 
#endif