SimpleSetup.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_GEOMETRIC_SIMPLE_SETUP_
#define OMPL_GEOMETRIC_SIMPLE_SETUP_
 
#include "ompl/base/Planner.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/util/Console.h"
#include "ompl/util/Exception.h"
 
namespace ompl
{
    namespace geometric
    {
        OMPL_CLASS_FORWARD(SimpleSetup);
 
        class SimpleSetup
        {
        public:
            explicit SimpleSetup(const base::SpaceInformationPtr &si);
 
            explicit SimpleSetup(const base::StateSpacePtr &space);
 
            virtual ~SimpleSetup() = default;
 
            const base::SpaceInformationPtr &getSpaceInformation() const
            {
                return si_;
            }
 
            const base::ProblemDefinitionPtr &getProblemDefinition() const
            {
                return pdef_;
            }
 
            base::ProblemDefinitionPtr &getProblemDefinition()
            {
                return pdef_;
            }
 
            const base::StateSpacePtr &getStateSpace() const
            {
                return si_->getStateSpace();
            }
 
            const base::StateValidityCheckerPtr &getStateValidityChecker() const
            {
                return si_->getStateValidityChecker();
            }
 
            const base::GoalPtr &getGoal() const
            {
                return pdef_->getGoal();
            }
 
            const base::PlannerPtr &getPlanner() const
            {
                return planner_;
            }
 
            const base::PlannerAllocator &getPlannerAllocator() const
            {
                return pa_;
            }
 
            const PathSimplifierPtr &getPathSimplifier() const
            {
                return psk_;
            }
 
            PathSimplifierPtr &getPathSimplifier()
            {
                return psk_;
            }
 
            const base::OptimizationObjectivePtr &getOptimizationObjective() const
            {
                return pdef_->getOptimizationObjective();
            }
 
            bool haveExactSolutionPath() const
            {
                return pdef_->hasExactSolution();
            }
 
            bool haveSolutionPath() const
            {
                return pdef_->hasSolution();
            }
 
            const std::string getSolutionPlannerName() const;
 
            PathGeometric &getSolutionPath() const;
 
            void getPlannerData(base::PlannerData &pd) const;
 
            void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
            {
                si_->setStateValidityChecker(svc);
            }
 
            void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
            {
                si_->setStateValidityChecker(svc);
            }
 
            void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
            {
                pdef_->setOptimizationObjective(optimizationObjective);
            }
 
            void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal,
                                       double threshold = std::numeric_limits<double>::epsilon());
 
            void addStartState(const base::ScopedState<> &state)
            {
                pdef_->addStartState(state);
            }
 
            void clearStartStates()
            {
                pdef_->clearStartStates();
            }
 
            void setStartState(const base::ScopedState<> &state)
            {
                clearStartStates();
                addStartState(state);
            }
 
            void setGoalState(const base::ScopedState<> &goal,
                              double threshold = std::numeric_limits<double>::epsilon());
 
            void setGoal(const base::GoalPtr &goal);
 
            void setPlanner(const base::PlannerPtr &planner)
            {
                if (planner && planner->getSpaceInformation().get() != si_.get())
                    throw Exception("Planner instance does not match space information");
                planner_ = planner;
                configured_ = false;
            }
 
            void setPlannerAllocator(const base::PlannerAllocator &pa)
            {
                pa_ = pa;
                planner_.reset();
                configured_ = false;
            }
 
            virtual base::PlannerStatus solve(double time = 1.0);
 
            virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
 
            base::PlannerStatus getLastPlannerStatus() const
            {
                return lastStatus_;
            }
 
            double getLastPlanComputationTime() const
            {
                return planTime_;
            }
 
            double getLastSimplificationTime() const
            {
                return simplifyTime_;
            }
 
            void simplifySolution(double duration = 0.0);
 
            void simplifySolution(const base::PlannerTerminationCondition &ptc);
 
            virtual void clear();
 
            virtual void print(std::ostream &out = std::cout) const;
 
            virtual void setup();
 
        protected:
            base::SpaceInformationPtr si_;
 
            base::ProblemDefinitionPtr pdef_;
 
            base::PlannerPtr planner_;
 
            base::PlannerAllocator pa_;
 
            PathSimplifierPtr psk_;
 
            bool configured_;
 
            double planTime_;
 
            double simplifyTime_;
 
            base::PlannerStatus lastStatus_;
        };
    }
}
#endif