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SimpleSetup.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_SIMPLE_SETUP_
00038 #define OMPL_CONTROL_SIMPLE_SETUP_
00039 
00040 #include "ompl/base/Planner.h"
00041 #include "ompl/control/SpaceInformation.h"
00042 #include "ompl/control/PlannerData.h"
00043 #include "ompl/base/ProblemDefinition.h"
00044 #include "ompl/control/PathControl.h"
00045 #include "ompl/geometric/PathGeometric.h"
00046 #include "ompl/util/Console.h"
00047 #include "ompl/util/Exception.h"
00048 
00049 namespace ompl
00050 {
00051 
00052     namespace control
00053     {
00054 
00057         class SimpleSetup
00058         {
00059         public:
00060 
00062             explicit
00063             SimpleSetup(const ControlSpacePtr &space) : configured_(false), planTime_(0.0), msg_("SimpleSetup")
00064             {
00065                 si_.reset(new SpaceInformation(space->getStateSpace(), space));
00066                 pdef_.reset(new base::ProblemDefinition(si_));
00067             }
00068 
00069             virtual ~SimpleSetup(void)
00070             {
00071             }
00072 
00074             const SpaceInformationPtr& getSpaceInformation(void) const
00075             {
00076                 return si_;
00077             }
00078 
00080             const base::ProblemDefinitionPtr& getProblemDefinition(void) const
00081             {
00082                 return pdef_;
00083             }
00084 
00086             const base::StateSpacePtr& getStateSpace(void) const
00087             {
00088                 return si_->getStateSpace();
00089             }
00090 
00092             const ControlSpacePtr& getControlSpace(void) const
00093             {
00094                 return si_->getControlSpace();
00095             }
00096 
00098             const base::StateValidityCheckerPtr& getStateValidityChecker(void) const
00099             {
00100                 return si_->getStateValidityChecker();
00101             }
00102 
00103             const StatePropagatorPtr& getStatePropagator(void) const
00104             {
00105                 return si_->getStatePropagator();
00106             }
00107 
00109             const base::GoalPtr& getGoal(void) const
00110             {
00111                 return pdef_->getGoal();
00112             }
00113 
00115             const base::PlannerPtr& getPlanner(void) const
00116             {
00117                 return planner_;
00118             }
00119 
00121             bool haveExactSolutionPath(void) const
00122             {
00123                 return haveSolutionPath() && !getGoal()->isApproximate();
00124             }
00125 
00127             bool haveSolutionPath(void) const
00128             {
00129                 return getGoal()->getSolutionPath();
00130             }
00131 
00133             PathControl& getSolutionPath(void) const;
00134 
00136             control::PlannerData getPlannerData(void) const;
00137 
00139             void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
00140             {
00141                 si_->setStateValidityChecker(svc);
00142             }
00143 
00145             void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
00146             {
00147                 si_->setStateValidityChecker(svc);
00148             }
00149 
00151             void setStatePropagator(const StatePropagatorFn &sp)
00152             {
00153                 si_->setStatePropagator(sp);
00154             }
00155 
00157             void setStatePropagator(const StatePropagatorPtr &sp)
00158             {
00159                 si_->setStatePropagator(sp);
00160             }
00161 
00163             void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
00164             {
00165                 pdef_->setStartAndGoalStates(start, goal, threshold);
00166             }
00167 
00169             void setGoalState(const base::ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
00170             {
00171                 pdef_->setGoalState(goal, threshold);
00172             }
00173 
00176             void addStartState(const base::ScopedState<> &state)
00177             {
00178                 pdef_->addStartState(state);
00179             }
00180 
00182             void clearStartStates(void)
00183             {
00184                 pdef_->clearStartStates();
00185             }
00186 
00188             void setStartState(const base::ScopedState<> &state)
00189             {
00190                 clearStartStates();
00191                 addStartState(state);
00192             }
00193 
00196             void setGoal(const base::GoalPtr &goal)
00197             {
00198                 pdef_->setGoal(goal);
00199             }
00200 
00205             void setPlanner(const base::PlannerPtr &planner)
00206             {
00207                 if (planner && planner->getSpaceInformation().get() != si_.get())
00208                     throw Exception("Planner instance does not match space information");
00209                 planner_ = planner;
00210                 configured_ = false;
00211             }
00212 
00216             void setPlannerAllocator(const base::PlannerAllocator &pa)
00217             {
00218                 pa_ = pa;
00219                 planner_.reset();
00220                 configured_ = false;
00221             }
00222 
00224             virtual bool solve(double time = 1.0);
00225 
00227             double getLastPlanComputationTime(void) const
00228             {
00229                 return planTime_;
00230             }
00231 
00235             virtual void clear(void);
00236 
00238             virtual void print(std::ostream &out = std::cout) const;
00239 
00243             virtual void setup(void);
00244 
00245         protected:
00246 
00248             SpaceInformationPtr           si_;
00249 
00251             base::ProblemDefinitionPtr    pdef_;
00252 
00254             base::PlannerPtr              planner_;
00255 
00257             base::PlannerAllocator        pa_;
00258 
00260             bool                          configured_;
00261 
00263             double                        planTime_;
00264 
00266             msg::Interface                msg_;
00267         };
00268 
00270         base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
00271     }
00272 
00273 }
00274 #endif