PathControl.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.
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPL_CONTROL_PATH_CONTROL_
#define OMPL_CONTROL_PATH_CONTROL_
 
#include "ompl/control/SpaceInformation.h"
#include "ompl/base/Path.h"
#include "ompl/geometric/PathGeometric.h"
#include <vector>
 
namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(OptimizationObjective);
    }
 
    namespace control
    {
        class PathControl : public base::Path
        {
        public:
            PathControl(const base::SpaceInformationPtr &si);
 
            PathControl(const PathControl &path);
 
            ~PathControl() override
            {
                freeMemory();
            }
 
            PathControl &operator=(const PathControl &other);
 
            base::Cost cost(const base::OptimizationObjectivePtr &opt) const override;
 
            double length() const override;
 
            bool check() const override;
 
            void print(std::ostream &out) const override;
            virtual void printAsMatrix(std::ostream &out) const;
 
            geometric::PathGeometric asGeometric() const;
 
            void append(const base::State *state);
 
            void append(const base::State *state, const Control *control, double duration);
 
            void interpolate();
 
            void random();
 
            bool randomValid(unsigned int attempts);
 
            std::vector<base::State *> &getStates()
            {
                return states_;
            }
 
            std::vector<Control *> &getControls()
            {
                return controls_;
            }
 
            std::vector<double> &getControlDurations()
            {
                return controlDurations_;
            }
 
            base::State *getState(unsigned int index)
            {
                return states_[index];
            }
 
            const base::State *getState(unsigned int index) const
            {
                return states_[index];
            }
 
            Control *getControl(unsigned int index)
            {
                return controls_[index];
            }
 
            const Control *getControl(unsigned int index) const
            {
                return controls_[index];
            }
 
            double getControlDuration(unsigned int index) const
            {
                return controlDurations_[index];
            }
 
            std::size_t getStateCount() const
            {
                return states_.size();
            }
 
            std::size_t getControlCount() const
            {
                return controls_.size();
            }
 
        protected:
            std::vector<base::State *> states_;
 
            std::vector<Control *> controls_;
 
            std::vector<double> controlDurations_;
 
            void freeMemory();
 
            void copyFrom(const PathControl &other);
        };
    }
}
 
#endif