ompl: PathControl.h Source File

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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_PATH_CONTROL_
00038 #define OMPL_CONTROL_PATH_CONTROL_
00039 
00040 #include "ompl/control/SpaceInformation.h"
00041 #include "ompl/base/Path.h"
00042 #include "ompl/geometric/PathGeometric.h"
00043 #include <vector>
00044 
00045 namespace ompl
00046 {
00047     namespace control
00048     {
00049 
00054         class PathControl : public base::Path
00055         {
00056         public:
00057 
00059             PathControl(const base::SpaceInformationPtr &si);
00060 
00062             PathControl(const PathControl &path);
00063 
00064             virtual ~PathControl(void)
00065             {
00066                 freeMemory();
00067             }
00068 
00070             PathControl& operator=(const PathControl& other);
00071 
00073             virtual double length(void) const;
00074 
00076             virtual bool check(void) const;
00077 
00079             virtual void print(std::ostream &out) const;
00080 
00082             void interpolate(void);
00083 
00085             void random(void);
00086 
00088             bool randomValid(unsigned int attempts);
00089 
00091             geometric::PathGeometric asGeometric(void) const;
00092 
00094             std::vector<base::State*>   states;
00095 
00097             std::vector<Control*>       controls;
00098 
00100             std::vector<double>         controlDurations;
00101 
00102         protected:
00103 
00105             void freeMemory(void);
00106 
00108             void copyFrom(const PathControl& other);
00109 
00110         };
00111 
00112     }
00113 }
00114 
00115 #endif