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StateSpaceCollection.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_TOOLS_SPACES_STATE_SPACE_COLLECTION_
00038 #define OMPL_TOOLS_SPACES_STATE_SPACE_COLLECTION_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 #include "ompl/util/Console.h"
00042 #include <vector>
00043 #include <string>
00044 
00045 namespace ompl
00046 {
00047 
00053     class StateSpaceCollection
00054     {
00055     public:
00056 
00057         StateSpaceCollection(void)
00058         {
00059             setAutomaticNames("+", "", "");
00060         }
00061 
00062         ~StateSpaceCollection(void)
00063         {
00064         }
00065 
00067         const std::string& getName(void) const;
00068 
00070         void setName(const std::string &name);
00071 
00073         void collect(const base::StateSpacePtr &space);
00074 
00076         void collect(const std::vector<base::StateSpacePtr> &spaces);
00077 
00079         const base::StateSpacePtr& getSpace(const std::string &name) const;
00080 
00082         bool haveSpace(const std::string &name) const;
00083 
00085         bool haveSpace(const base::StateSpacePtr &space) const;
00086 
00093         const base::StateSpacePtr& combine(const std::vector<base::StateSpacePtr> &components);
00094 
00104         const base::StateSpacePtr& combine(const std::vector<base::StateSpacePtr> &components,
00105                                            const std::vector<bool> &mask);
00106 
00116         const base::StateSpacePtr& combine(const std::vector<base::StateSpacePtr> &components,
00117                                            const std::vector<bool> &mask, const std::vector<double> &weights);
00118 
00125         const base::StateSpacePtr& combine(const std::vector<base::StateSpacePtr> &components,
00126                                            const std::vector<double> &weights);
00127 
00132         std::vector<base::StateSpacePtr> allCombinations(const std::vector<base::StateSpacePtr> &components);
00133 
00138         std::vector<base::StateSpacePtr> allCombinations(const std::vector<base::StateSpacePtr> &components, const std::vector<double> &weights);
00139 
00146         void setAutomaticNames(const std::string &join, const std::string &prefix, const std::string &suffix);
00147 
00148     private:
00149 
00150         std::string                      name_;
00151         std::vector<base::StateSpacePtr> spaces_;
00152         std::string                      join_;
00153         std::string                      prefix_;
00154         std::string                      suffix_;
00155 
00156         msg::Interface                   msg_;
00157     };
00158 }
00159 
00160 #endif