Program Listing for File PathControl.h

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/* 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