ProblemDefinition.h

Go to the documentation of this file.

/*********************************************************************
* 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_BASE_PROBLEM_DEFINITION_
#define OMPL_BASE_PROBLEM_DEFINITION_

#include "ompl/base/State.h"
#include "ompl/base/Goal.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/Console.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/ScopedState.h"

#include <vector>
#include <cstdlib>
#include <iostream>
#include <limits>

#include <boost/noncopyable.hpp>

namespace ompl
{
    namespace base
    {

        ClassForward(ProblemDefinition);

        class ProblemDefinition : private boost::noncopyable
        {
        public:

            ProblemDefinition(const SpaceInformationPtr &si) : si_(si)
            {
            }

            virtual ~ProblemDefinition(void)
            {
                clearStartStates();
            }

            void addStartState(const State *state)
            {
                startStates_.push_back(si_->cloneState(state));
            }

            void addStartState(const ScopedState<> &state)
            {
                startStates_.push_back(si_->cloneState(state.get()));
            }

            bool hasStartState(const State *state, unsigned int *startIndex = NULL);

            void clearStartStates(void)
            {
                for (unsigned int i = 0 ; i < startStates_.size() ; ++i)
                    si_->freeState(startStates_[i]);
                startStates_.clear();
            }

            unsigned int getStartStateCount(void) const
            {
                return startStates_.size();
            }

            const State* getStartState(unsigned int index) const
            {
                return startStates_[index];
            }

            State* getStartState(unsigned int index)
            {
                return startStates_[index];
            }

            void setGoal(const GoalPtr &goal)
            {
                goal_ = goal;
            }

            void clearGoal(void)
            {
                goal_.reset();
            }

            const GoalPtr& getGoal(void) const
            {
                return goal_;
            }

            void getInputStates(std::vector<const State*> &states) const;

            void setStartAndGoalStates(const State *start, const State *goal, const double threshold = std::numeric_limits<double>::epsilon());

            void setGoalState(const State *goal, const double threshold = std::numeric_limits<double>::epsilon());

            void setStartAndGoalStates(const ScopedState<> &start, const ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
            {
                setStartAndGoalStates(start.get(), goal.get(), threshold);
            }

            void setGoalState(const ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
            {
                setGoalState(goal.get(), threshold);
            }

            bool isTrivial(unsigned int *startIndex = NULL, double *distance = NULL) const;

            bool fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts);

            void print(std::ostream &out = std::cout) const;

        protected:

            bool fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts);

            SpaceInformationPtr  si_;

            std::vector<State*>  startStates_;

            GoalPtr              goal_;

            msg::Interface       msg_;
        };
    }
}

#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