00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_ 00038 #define OMPL_GEOMETRIC_PATH_GEOMETRIC_ 00039 00040 #include "ompl/base/SpaceInformation.h" 00041 #include "ompl/base/Path.h" 00042 #include <vector> 00043 #include <utility> 00044 00045 namespace ompl 00046 { 00047 00049 namespace geometric 00050 { 00051 00055 class PathGeometric : public base::Path 00056 { 00057 public: 00058 00060 PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si) 00061 { 00062 } 00063 00065 PathGeometric(const PathGeometric &path); 00066 00068 PathGeometric(const base::SpaceInformationPtr &si, const base::State *state); 00069 00070 virtual ~PathGeometric(void) 00071 { 00072 freeMemory(); 00073 } 00074 00076 PathGeometric& operator=(const PathGeometric& other); 00077 00079 virtual double length(void) const; 00080 00082 virtual bool check(void) const; 00083 00087 double smoothness(void) const; 00088 00091 double clearance(void) const; 00092 00103 std::pair<bool, bool> checkAndRepair(unsigned int attempts); 00104 00106 virtual void print(std::ostream &out) const; 00107 00113 void interpolate(unsigned int count); 00114 00119 void interpolate(void); 00120 00122 void subdivide(void); 00123 00125 void reverse(void); 00126 00137 void overlay(const PathGeometric &over, unsigned int startIndex = 0); 00138 00150 void append(const PathGeometric &path); 00151 00153 void random(void); 00154 00156 bool randomValid(unsigned int attempts); 00157 00159 std::vector<base::State*> states; 00160 00161 protected: 00162 00164 void freeMemory(void); 00165 00167 void copyFrom(const PathGeometric& other); 00168 }; 00169 00170 } 00171 } 00172 00173 #endif