LTLSpaceInformation.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
38 #define OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
39 
40 #include "ompl/base/spaces/DiscreteStateSpace.h"
41 #include "ompl/control/SpaceInformation.h"
42 #include "ompl/control/planners/ltl/ProductGraph.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
49 
50  OMPL_CLASS_FORWARD(LTLSpaceInformation);
52 
56  {
57  public:
59 
60  virtual ~LTLSpaceInformation(void) {}
61 
62  virtual void setup(void);
63 
64  const ProductGraphPtr& getProductGraph(void) const { return prod_; }
65 
66  const SpaceInformationPtr& getLowSpace() { return lowSpace_; }
67 
68  void getFullState(const base::State* low, base::State* full);
69 
70  base::State* getLowLevelState(base::State* s);
71  const base::State* getLowLevelState(const base::State* s);
72 
73  ProductGraph::State* getProdGraphState(const base::State* s) const;
74 
75  protected:
76  enum SpaceIndex { LOW_LEVEL = 0, REGION = 1, COSAFE = 2, SAFE = 3 };
77  // Creates a new state propagator which uses the user-defined propagator
78  // defined in low state space, followed by automaton-defined transition rules
79  // for the co-safe and safe automata in prod.
80  void extendPropagator(const SpaceInformationPtr& oldsi);
81 
82  // Creates a new state validity checker which uses the user-defined validity checker
83  // defined in low state space and also checks for valid states in the automata in prod.
84  void extendValidityChecker(const SpaceInformationPtr& oldsi);
85 
86  ProductGraphPtr prod_;
87  SpaceInformationPtr lowSpace_;
88  };
89  }
90 }
91 
92 #endif
virtual void setup(void)
Perform additional setup tasks (run once, before use)
Main namespace. Contains everything in this library.
Definition: Cost.h:42
A State of a ProductGraph represents a vertex in the graph-based Cartesian product represented by the...
Definition: ProductGraph.h:74
Definition of an abstract state.
Definition: State.h:50
A boost shared pointer wrapper for ompl::control::SpaceInformation.
A boost shared pointer wrapper for ompl::control::ProductGraph.
Space information containing necessary information for planning with controls. setup() needs to be ca...