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src
ompl
geometric
PathGeometric.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
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#define OMPL_GEOMETRIC_PATH_GEOMETRIC_
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#include "ompl/base/SpaceInformation.h"
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#include "ompl/base/Path.h"
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#include <vector>
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#include <utility>
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namespace
ompl
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{
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namespace
geometric
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{
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class
PathGeometric
:
public
base::Path
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{
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public
:
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PathGeometric
(
const
base::SpaceInformationPtr
&si) : base::
Path
(si)
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{
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}
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PathGeometric
(
const
PathGeometric
&path);
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PathGeometric
(
const
base::SpaceInformationPtr
&si,
const
base::State
*state);
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PathGeometric
(
const
base::SpaceInformationPtr
&si,
const
base::State
*state1,
const
base::State
*state2);
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virtual
~
PathGeometric
(
void
)
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{
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freeMemory
();
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}
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PathGeometric
&
operator=
(
const
PathGeometric
& other);
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virtual
double
length
(
void
)
const
;
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virtual
double
cost
(
const
base::OptimizationObjective
&objective)
const
;
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virtual
bool
check
(
void
)
const
;
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102
double
smoothness
(
void
)
const
;
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115
double
clearance
(
void
)
const
;
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virtual
void
print
(std::ostream &out)
const
;
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120
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void
interpolate
(
unsigned
int
count);
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void
interpolate
(
void
);
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void
subdivide
(
void
);
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void
reverse
(
void
);
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std::pair<bool, bool>
checkAndRepair
(
unsigned
int
attempts);
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void
overlay
(
const
PathGeometric
&over,
unsigned
int
startIndex = 0);
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void
append
(
const
base::State
*state);
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void
append
(
const
PathGeometric
&path);
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void
keepAfter
(
const
base::State
*state);
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void
keepBefore
(
const
base::State
*state);
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void
random
(
void
);
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bool
randomValid
(
unsigned
int
attempts);
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int
getClosestIndex
(
const
base::State
*state)
const
;
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std::vector<base::State*>&
getStates
(
void
)
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{
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return
states_
;
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}
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base::State
*
getState
(
unsigned
int
index)
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{
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return
states_
[index];
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}
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const
base::State
*
getState
(
unsigned
int
index)
const
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{
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return
states_
[index];
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}
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std::size_t
getStateCount
(
void
)
const
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{
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return
states_
.size();
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}
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protected
:
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void
freeMemory
(
void
);
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void
copyFrom
(
const
PathGeometric
& other);
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std::vector<base::State*>
states_
;
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};
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}
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}
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#endif