37 #ifndef OMPL_CONTROL_SIMPLE_SETUP_
38 #define OMPL_CONTROL_SIMPLE_SETUP_
40 #include "ompl/base/Planner.h"
41 #include "ompl/control/SpaceInformation.h"
42 #include "ompl/control/PlannerData.h"
43 #include "ompl/base/ProblemDefinition.h"
44 #include "ompl/control/PathControl.h"
45 #include "ompl/geometric/PathGeometric.h"
47 #include "ompl/util/Exception.h"
55 OMPL_CLASS_FORWARD(SimpleSetup);
90 return si_->getStateSpace();
96 return si_->getControlSpace();
102 return si_->getStateValidityChecker();
108 return si_->getStatePropagator();
114 return pdef_->getGoal();
136 return pdef_->getSolutionPath();
148 si_->setStateValidityChecker(svc);
154 si_->setStateValidityChecker(svc);
160 si_->setStatePropagator(sp);
166 si_->setStatePropagator(sp);
172 pdef_->setStartAndGoalStates(start, goal, threshold);
178 pdef_->setGoalState(goal, threshold);
185 pdef_->addStartState(state);
191 pdef_->clearStartStates();
205 pdef_->setGoal(goal);
214 if (planner && planner->getSpaceInformation().get() !=
si_.get())
215 throw Exception(
"Planner instance does not match space information");
251 virtual void clear(
void);
254 virtual void print(std::ostream &out = std::cout)
const;
259 virtual void setup(
void);