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:
63 
66  {
67  }
68 
70  PathGeometric(const PathGeometric &path);
71 
73  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
74 
76  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);
77 
78  virtual ~PathGeometric()
79  {
80  freeMemory();
81  }
82 
84  PathGeometric& operator=(const PathGeometric &other);
85 
89  virtual base::Cost cost(const base::OptimizationObjectivePtr &obj) const;
90 
92  virtual double length() const;
93 
95  virtual bool check() const;
96 
110  double smoothness() const;
111 
123  double clearance() const;
124 
126  virtual void print(std::ostream &out) const;
131  virtual void printAsMatrix(std::ostream &out) const;
132 
141  void interpolate(unsigned int count);
142 
147  void interpolate();
148 
150  void subdivide();
151 
153  void reverse();
154 
166  std::pair<bool, bool> checkAndRepair(unsigned int attempts);
167 
178  void overlay(const PathGeometric &over, unsigned int startIndex = 0);
179 
181  void append(const base::State *state);
182 
194  void append(const PathGeometric &path);
195 
197  void prepend(const base::State *state);
198 
200  void keepAfter(const base::State *state);
201 
203  void keepBefore(const base::State *state);
204 
206  void random();
207 
209  bool randomValid(unsigned int attempts);
216  int getClosestIndex(const base::State *state) const;
217 
219  std::vector<base::State*>& getStates()
220  {
221  return states_;
222  }
223 
225  base::State* getState(unsigned int index)
226  {
227  return states_[index];
228  }
229 
231  const base::State* getState(unsigned int index) const
232  {
233  return states_[index];
234  }
235 
237  std::size_t getStateCount() const
238  {
239  return states_.size();
240  }
241 
244  protected:
245 
247  void freeMemory();
248 
250  void copyFrom(const PathGeometric &other);
251 
253  std::vector<base::State*> states_;
254  };
255 
256  }
257 }
258 
259 #endif
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 ...
void freeMemory()
Free the memory corresponding to the states on this path.
void interpolate()
Insert a number of states in a path so that the path is made up of (approximately) the states checked...
Path(const SpaceInformationPtr &si)
Constructor. A path must always know the space information it is part of.
Definition: Path.h:72
void copyFrom(const PathGeometric &other)
Copy data to this path from another path instance.
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 random()
Set this path to a random 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 append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
Definition: PathGeometric.h:65
base::State * getState(unsigned int index)
Get the state located at index along the path.
virtual double length() const
Compute the length of a geometric path (sum of lengths of segments that make up the path) ...
std::size_t getStateCount() const
Get the number of states (way-points) that make up this 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...
virtual base::Cost cost(const base::OptimizationObjectivePtr &obj) const
The sum of the costs for the sequence of segments that make up the path, computed using OptimizationO...
double clearance() const
Compute the clearance of the way-points along the path (no interpolation is performed). Detailed formula follows.
bool randomValid(unsigned int attempts)
Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
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...
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...
Abstract definition of a path.
Definition: Path.h:67
void reverse()
Reverse the path.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
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:50
PathGeometric & operator=(const PathGeometric &other)
Assignment operator.
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
double smoothness() const
Compute a notion of smoothness for this path. The closer the value is to 0, the smoother the path...
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...
void subdivide()
Add a state at the middle of each segment.
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
std::vector< base::State * > states_
The list of states that make up the path.
Definition of a geometric path.
Definition: PathGeometric.h:60
virtual bool check() const
Check if the path is valid.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
virtual void print(std::ostream &out) const
Print the path to a stream.