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PathGeometric.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
00038 #define OMPL_GEOMETRIC_PATH_GEOMETRIC_
00039 
00040 #include "ompl/base/SpaceInformation.h"
00041 #include "ompl/base/Path.h"
00042 #include <vector>
00043 #include <utility>
00044 
00045 namespace ompl
00046 {
00047 
00049     namespace geometric
00050     {
00051 
00055         class PathGeometric : public base::Path
00056         {
00057         public:
00058 
00060             PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
00061             {
00062             }
00063 
00065             PathGeometric(const PathGeometric &path);
00066 
00068             PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
00069 
00070             virtual ~PathGeometric(void)
00071             {
00072                 freeMemory();
00073             }
00074 
00076             PathGeometric& operator=(const PathGeometric& other);
00077 
00079             virtual double length(void) const;
00080 
00082             virtual bool check(void) const;
00083 
00087             double smoothness(void) const;
00088 
00091             double clearance(void) const;
00092 
00103             std::pair<bool, bool> checkAndRepair(unsigned int attempts);
00104 
00106             virtual void print(std::ostream &out) const;
00107 
00113             void interpolate(unsigned int count);
00114 
00119             void interpolate(void);
00120 
00122             void subdivide(void);
00123 
00125             void reverse(void);
00126 
00137             void overlay(const PathGeometric &over, unsigned int startIndex = 0);
00138 
00150             void append(const PathGeometric &path);
00151 
00153             void random(void);
00154 
00156             bool randomValid(unsigned int attempts);
00157 
00159             std::vector<base::State*> states;
00160 
00161         protected:
00162 
00164             void freeMemory(void);
00165 
00167             void copyFrom(const PathGeometric& other);
00168         };
00169 
00170     }
00171 }
00172 
00173 #endif