Planner.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_PLANNER_
#define OMPL_BASE_PLANNER_

#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/PlannerTerminationCondition.h"
#include "ompl/util/Console.h"
#include "ompl/util/Time.h"
#include "ompl/util/ClassForward.h"
#include <boost/function.hpp>
#include <boost/concept_check.hpp>
#include <boost/noncopyable.hpp>
#include <string>

namespace ompl
{

    namespace base
    {

        enum PlannerType
            {
                PLAN_UNKNOWN        = 0,

                PLAN_TO_GOAL_STATE  = 1,

                PLAN_TO_GOAL_STATES  = 2,

                PLAN_TO_GOAL_SAMPLEABLE_REGION = 4 | PLAN_TO_GOAL_STATES | PLAN_TO_GOAL_STATE,

                PLAN_TO_GOAL_REGION = 8 | PLAN_TO_GOAL_SAMPLEABLE_REGION,

                PLAN_TO_GOAL_ANY    = 32768 | PLAN_TO_GOAL_REGION
            };

        ClassForward(Planner);

        class PlannerInputStates
        {
        public:

            PlannerInputStates(const PlannerPtr &planner) : planner_(planner.get())
            {
                tempState_ = NULL;
                update();
            }

            PlannerInputStates(const Planner *planner) : planner_(planner)
            {
                tempState_ = NULL;
                update();
            }

            PlannerInputStates(void) : planner_(NULL)
            {
                tempState_ = NULL;
                clear();
            }

            ~PlannerInputStates(void)
            {
                clear();
            }

            void clear(void);

            bool update(void);

            bool use(const SpaceInformationPtr &si, const ProblemDefinitionPtr &pdef);

            bool use(const SpaceInformation *si, const ProblemDefinition *pdef);

            void checkValidity(void) const;

            const State* nextStart(void);

            const State* nextGoal(const PlannerTerminationCondition &ptc);

            const State* nextGoal(void);

            bool haveMoreStartStates(void) const;

            bool haveMoreGoalStates(void) const;

            unsigned int getSeenStartStatesCount(void) const
            {
                return addedStartStates_;
            }

            unsigned int getSampledGoalsCount(void) const
            {
                return sampledGoalsCount_;
            }

        private:

            const Planner              *planner_;

            unsigned int                addedStartStates_;
            unsigned int                sampledGoalsCount_;
            State                      *tempState_;

            const ProblemDefinition    *pdef_;
            const SpaceInformation     *si_;
        };

        class Planner : private boost::noncopyable
        {

        public:

            Planner(const SpaceInformationPtr &si, const std::string &name);

            virtual ~Planner(void)
            {
            }

            template<class T>
            T* as(void)
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Planner*>));

                return static_cast<T*>(this);
            }

            template<class T>
            const T* as(void) const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Planner*>));

                return static_cast<const T*>(this);
            }

            const SpaceInformationPtr& getSpaceInformation(void) const;

            const ProblemDefinitionPtr& getProblemDefinition(void) const;

            const PlannerInputStates& getPlannerInputStates(void) const;

            virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef);

            virtual bool solve(const PlannerTerminationCondition &ptc) = 0;

            bool solve(const PlannerTerminationConditionFn &ptc, double checkInterval);

            bool solve(double solveTime);

            virtual void clear(void);

            virtual void getPlannerData(PlannerData &data) const;

            const std::string& getName(void) const;

            void setName(const std::string &name);

            PlannerType getType(void) const;

            virtual void setup(void);

            virtual void checkValidity(void);

            bool isSetup(void) const;

        protected:

            SpaceInformationPtr  si_;

            ProblemDefinitionPtr pdef_;

            PlannerInputStates   pis_;

            std::string          name_;

            PlannerType          type_;

            bool                 setup_;

            msg::Interface       msg_;
        };

        typedef boost::function1<PlannerPtr, const SpaceInformationPtr&> PlannerAllocator;
    }
}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013