PathGeometric.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
38 #define OMPL_GEOMETRIC_PATH_GEOMETRIC_
39 
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/Path.h"
42 #include <vector>
43 #include <utility>
44 
45 namespace ompl
46 {
47  namespace base
48  {
50  OMPL_CLASS_FORWARD(OptimizationObjective);
52  }
53 
55  namespace geometric
56  {
60  class PathGeometric : public base::Path
61  {
62  public:
64  PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
65  {
66  }
67 
69  PathGeometric(const PathGeometric &path);
70 
72  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
73 
75  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);
76 
77  ~PathGeometric() override
78  {
79  freeMemory();
80  }
81 
83  PathGeometric &operator=(const PathGeometric &other);
84 
90  base::Cost cost(const base::OptimizationObjectivePtr &obj) const override;
91 
93  double length() const override;
94 
96  bool check() const override;
97 
116  double smoothness() const;
117 
130  double clearance() const;
131 
133  void print(std::ostream &out) const override;
134 
139  virtual void printAsMatrix(std::ostream &out) const;
140 
149  void interpolate(unsigned int count);
150 
155  void interpolate();
156 
158  void subdivide();
159 
161  void reverse();
162 
174  std::pair<bool, bool> checkAndRepair(unsigned int attempts);
175 
186  void overlay(const PathGeometric &over, unsigned int startIndex = 0);
187 
189  void append(const base::State *state);
190 
202  void append(const PathGeometric &path);
203 
205  void prepend(const base::State *state);
206 
209  void keepAfter(const base::State *state);
210 
213  void keepBefore(const base::State *state);
214 
216  void random();
217 
220  bool randomValid(unsigned int attempts);
228  int getClosestIndex(const base::State *state) const;
229 
232  std::vector<base::State *> &getStates()
233  {
234  return states_;
235  }
236 
238  base::State *getState(unsigned int index)
239  {
240  return states_[index];
241  }
242 
244  const base::State *getState(unsigned int index) const
245  {
246  return states_[index];
247  }
248 
250  std::size_t getStateCount() const
251  {
252  return states_.size();
253  }
254 
256  void clear();
257 
260  protected:
262  void freeMemory();
263 
265  void copyFrom(const PathGeometric &other);
266 
268  std::vector<base::State *> states_;
269  };
270  }
271 }
272 
273 #endif
void reverse()
Reverse the path.
bool randomValid(unsigned int attempts)
Set this path to a random valid segment. Sample attempts times for valid segments....
bool check() const override
Check if the path is valid.
void clear()
Remove all states and clear memory.
void prepend(const base::State *state)
Prepend state to the start of this path. The memory for state is copied.
Definition of an abstract state.
Definition: State.h:110
double smoothness() const
Compute a notion of smoothness for this path. The closer the value is to 0, the smoother the path....
PathGeometric & operator=(const PathGeometric &other)
Assignment operator.
void keepBefore(const base::State *state)
Keep the part of the path that is before state (getClosestIndex() is used to find out which way-point...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:108
base::Cost cost(const base::OptimizationObjectivePtr &obj) const override
The sum of the costs for the sequence of segments that make up the path, computed using OptimizationO...
Definition of a geometric path.
Definition: PathGeometric.h:90
std::vector< base::State * > & getStates()
Get the states that make up the path (as a reference, so it can be modified, hence the function is no...
void subdivide()
Add a state at the middle of each segment.
virtual void printAsMatrix(std::ostream &out) const
Print the path as a real-valued matrix where the i-th row represents the i-th state along the path....
void freeMemory()
Free the memory corresponding to the states on this path.
std::vector< base::State * > states_
The list of states that make up the path.
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
int getClosestIndex(const base::State *state) const
Get the index of the way-point along the path that is closest to state. Returns -1 for an empty path.
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
void interpolate()
Insert a number of states in a path so that the path is made up of (approximately) the states checked...
void keepAfter(const base::State *state)
Keep the part of the path that is after state (getClosestIndex() is used to find out which way-point ...
double length() const override
Compute the length of a geometric path (sum of lengths of segments that make up the path)
std::pair< bool, bool > checkAndRepair(unsigned int attempts)
Check if the path is valid. If it is not, attempts are made to fix the path by sampling around invali...
void copyFrom(const PathGeometric &other)
Copy data to this path from another path instance.
void random()
Set this path to a random segment.
void overlay(const PathGeometric &over, unsigned int startIndex=0)
Overlay the path over on top of the current path. States are added to the current path if needed (by ...
void print(std::ostream &out) const override
Print the path to a stream.
double clearance() const
Compute the clearance of the way-points along the path (no interpolation is performed)....
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
Definition: PathGeometric.h:94
base::State * getState(unsigned int index)
Get the state located at index along the path.
Main namespace. Contains everything in this library.
Definition: AppBase.h:20