SpaceInformation.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACE_INFORMATION_
#define OMPL_BASE_SPACE_INFORMATION_

#include "ompl/base/State.h"
#include "ompl/base/StateValidityChecker.h"
#include "ompl/base/MotionValidator.h"
#include "ompl/base/StateSpace.h"
#include "ompl/base/ValidStateSampler.h"

#include "ompl/util/ClassForward.h"
#include "ompl/util/Console.h"
#include "ompl/util/Exception.h"

#include <boost/noncopyable.hpp>
#include <boost/function.hpp>
#include <boost/bind.hpp>

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

namespace ompl
{

    namespace base
    {

        ClassForward(SpaceInformation);

        typedef boost::function1<bool, const State*> StateValidityCheckerFn;


        class SpaceInformation : private boost::noncopyable
        {
        public:

            SpaceInformation(const StateSpacePtr &space);

            virtual ~SpaceInformation(void)
            {
            }

            bool isValid(const State *state) const
            {
                return stateValidityChecker_->isValid(state);
            }

            const StateSpacePtr& getStateSpace(void) const
            {
                return stateSpace_;
            }

            bool equalStates(const State *state1, const State *state2) const
            {
                return stateSpace_->equalStates(state1, state2);
            }

            bool satisfiesBounds(const State *state) const
            {
                return stateSpace_->satisfiesBounds(state);
            }

            double distance(const State *state1, const State *state2) const
            {
                return stateSpace_->distance(state1, state2);
            }

            void enforceBounds(State *state) const
            {
                stateSpace_->enforceBounds(state);
            }

            void printState(const State *state, std::ostream &out = std::cout) const
            {
                stateSpace_->printState(state, out);
            }

            void setStateValidityChecker(const StateValidityCheckerPtr &svc)
            {
                stateValidityChecker_ = svc;
                setup_ = false;
            }

            void setStateValidityChecker(const StateValidityCheckerFn &svc);

            const StateValidityCheckerPtr& getStateValidityChecker(void) const
            {
                return stateValidityChecker_;
            }

            void setMotionValidator(const MotionValidatorPtr &mv)
            {
                motionValidator_ = mv;
                setup_ = false;
            }

            const MotionValidatorPtr& getMotionValidator(void) const
            {
                return motionValidator_;
            }

            void setStateValidityCheckingResolution(double resolution)
            {
                stateSpace_->setLongestValidSegmentFraction(resolution);
                setup_ = false;
            }

            double getStateValidityCheckingResolution(void) const
            {
                return stateSpace_->getLongestValidSegmentFraction();
            }


            unsigned int getStateDimension(void) const
            {
                return stateSpace_->getDimension();
            }

            State* allocState(void) const
            {
                return stateSpace_->allocState();
            }

            void freeState(State *state) const
            {
                stateSpace_->freeState(state);
            }

            void copyState(State *destination, const State *source) const
            {
                stateSpace_->copyState(destination, source);
            }

            State* cloneState(const State *source) const
            {
                State *copy = stateSpace_->allocState();
                stateSpace_->copyState(copy, source);
                return copy;
            }

            StateSamplerPtr allocStateSampler(void) const
            {
                return stateSpace_->allocStateSampler();
            }

            ValidStateSamplerPtr allocValidStateSampler(void) const;


            void setValidStateSamplerAllocator(const ValidStateSamplerAllocator &vssa)
            {
                vssa_ = vssa;
                setup_ = false;
            }

            double getMaximumExtent(void) const
            {
                return stateSpace_->getMaximumExtent();
            }

            bool searchValidNearby(State *state, const State *near, double distance, unsigned int attempts) const;

            bool searchValidNearby(const ValidStateSamplerPtr &sampler, State *state, const State *near, double distance) const;

            unsigned int randomBounceMotion(const StateSamplerPtr &sss, const State *start, unsigned int steps, std::vector<State*> &states, bool alloc) const;

            bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const
            {
                return motionValidator_->checkMotion(s1, s2, lastValid);
            }


            bool checkMotion(const State *s1, const State *s2) const
            {
                return motionValidator_->checkMotion(s1, s2);
            }

            bool checkMotion(const std::vector<State*> &states, unsigned int count, unsigned int &firstInvalidStateIndex) const;

            bool checkMotion(const std::vector<State*> &states, unsigned int count) const;

            unsigned int getMotionStates(const State *s1, const State *s2, std::vector<State*> &states, unsigned int count, bool endpoints, bool alloc) const;

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

            virtual void setup(void);

            bool isSetup(void) const;

        protected:

            StateSpacePtr              stateSpace_;

            StateValidityCheckerPtr    stateValidityChecker_;

            MotionValidatorPtr         motionValidator_;

            bool                       setup_;

            ValidStateSamplerAllocator vssa_;

            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 09:33:20 2013