SimpleSetup.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_SIMPLE_SETUP_
#define OMPL_GEOMETRIC_SIMPLE_SETUP_

#include "ompl/base/Planner.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/util/Console.h"
#include "ompl/util/Exception.h"

namespace ompl
{

    namespace geometric
    {

        class SimpleSetup
        {
        public:

            explicit
            SimpleSetup(const base::StateSpacePtr &space) : configured_(false), planTime_(0.0), simplifyTime_(0.0), msg_("SimpleSetup")
            {
                si_.reset(new base::SpaceInformation(space));
                pdef_.reset(new base::ProblemDefinition(si_));
                psk_.reset(new PathSimplifier(si_));
            }

            virtual ~SimpleSetup(void)
            {
            }

            const base::SpaceInformationPtr& getSpaceInformation(void) const
            {
                return si_;
            }

            const base::ProblemDefinitionPtr& getProblemDefinition(void) const
            {
                return pdef_;
            }

            const base::StateSpacePtr& getStateSpace(void) const
            {
                return si_->getStateSpace();
            }

            const base::StateValidityCheckerPtr& getStateValidityChecker(void) const
            {
                return si_->getStateValidityChecker();
            }

            const base::GoalPtr& getGoal(void) const
            {
                return pdef_->getGoal();
            }

            const base::PlannerPtr& getPlanner(void) const
            {
                return planner_;
            }

            const PathSimplifierPtr& getPathSimplifier(void) const
            {
                return psk_;
            }

            PathSimplifierPtr& getPathSimplifier(void)
            {
                return psk_;
            }

            bool haveExactSolutionPath(void) const
            {
                return haveSolutionPath() && !getGoal()->isApproximate();
            }

            bool haveSolutionPath(void) const
            {
                return getGoal()->getSolutionPath();
            }

            PathGeometric& getSolutionPath(void) const;

            base::PlannerData getPlannerData(void) const;

            void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
            {
                si_->setStateValidityChecker(svc);
            }

            void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
            {
                si_->setStateValidityChecker(svc);
            }

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

            void addStartState(const base::ScopedState<> &state)
            {
                pdef_->addStartState(state);
            }

            void clearStartStates(void)
            {
                pdef_->clearStartStates();
            }

            void setStartState(const base::ScopedState<> &state)
            {
                clearStartStates();
                addStartState(state);
            }

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

            void setGoal(const base::GoalPtr &goal)
            {
                pdef_->setGoal(goal);
            }

            void setPlanner(const base::PlannerPtr &planner)
            {
                if (planner && planner->getSpaceInformation().get() != si_.get())
                    throw Exception("Planner instance does not match space information");
                planner_ = planner;
                configured_ = false;
            }

            void setPlannerAllocator(const base::PlannerAllocator &pa)
            {
                pa_ = pa;
                planner_.reset();
                configured_ = false;
            }

            void updateProjectionCellSizes(void);

            virtual bool solve(double time = 1.0);

            double getLastPlanComputationTime(void) const
            {
                return planTime_;
            }

            double getLastSimplificationTime(void) const
            {
                return simplifyTime_;
            }

            void simplifySolution(void);

            virtual void clear(void);

            virtual void print(std::ostream &out = std::cout) const
            {
                if (si_)
                    si_->printSettings(out);
                if (pdef_)
                    pdef_->print(out);
            }

            virtual void setup(void);

        protected:

            base::SpaceInformationPtr     si_;

            base::ProblemDefinitionPtr    pdef_;

            base::PlannerPtr              planner_;

            base::PlannerAllocator        pa_;

            PathSimplifierPtr             psk_;

            bool                          configured_;

            double                        planTime_;

            double                        simplifyTime_;

            msg::Interface                msg_;

        };

        base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
    }

}
#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