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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 
49  namespace geometric
50  {
51 
55  class PathGeometric : public base::Path
56  {
57  public:
58 
61  {
62  }
63 
65  PathGeometric(const PathGeometric &path);
66 
68  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
69 
71  PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);
72 
73  virtual ~PathGeometric(void)
74  {
75  freeMemory();
76  }
77 
79  PathGeometric& operator=(const PathGeometric& other);
80 
82  virtual double length(void) const;
83 
85  virtual bool check(void) const;
86 
100  double smoothness(void) const;
101 
113  double clearance(void) const;
114 
116  virtual void print(std::ostream &out) const;
121  virtual void printAsMatrix(std::ostream &out) const;
122 
131  void interpolate(unsigned int count);
132 
137  void interpolate(void);
138 
140  void subdivide(void);
141 
143  void reverse(void);
144 
155  std::pair<bool, bool> checkAndRepair(unsigned int attempts);
156 
167  void overlay(const PathGeometric &over, unsigned int startIndex = 0);
168 
170  void append(const base::State *state);
171 
183  void append(const PathGeometric &path);
184 
186  void keepAfter(const base::State *state);
187 
189  void keepBefore(const base::State *state);
190 
192  void random(void);
193 
195  bool randomValid(unsigned int attempts);
202  int getClosestIndex(const base::State *state) const;
203 
205  std::vector<base::State*>& getStates(void)
206  {
207  return states_;
208  }
209 
211  base::State* getState(unsigned int index)
212  {
213  return states_[index];
214  }
215 
217  const base::State* getState(unsigned int index) const
218  {
219  return states_[index];
220  }
221 
223  std::size_t getStateCount(void) const
224  {
225  return states_.size();
226  }
227 
230  protected:
231 
233  void freeMemory(void);
234 
236  void copyFrom(const PathGeometric& other);
237 
239  std::vector<base::State*> states_;
240  };
241 
242  }
243 }
244 
245 #endif
void interpolate(void)
Insert a number of states in a path so that the path is made up of (approximately) the states checked...
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 ...
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 ...
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...
std::vector< base::State * > & getStates(void)
Get the states that make up the path (as a reference, so it can be modified, hence the function is no...
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:60
base::State * getState(unsigned int index)
Get the state located at index along the path.
std::size_t getStateCount(void) 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...
void subdivide(void)
Add a state at the middle of each segment.
bool randomValid(unsigned int attempts)
Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success.
virtual bool check(void) const
Check if the path is valid.
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...
Abstract definition of a path.
Definition: Path.h:67
void reverse(void)
Reverse the path.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
PathGeometric & operator=(const PathGeometric &other)
Assignment operator.
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...
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:55
void random(void)
Set this path to a random segment.
virtual double length(void) const
Compute the length of a geometric path (sum of lengths of segments that make up the path) ...
void freeMemory(void)
Free the memory corresponding to the states on this path.
virtual void print(std::ostream &out) const
Print the path to a stream.
double smoothness(void) const
Compute a notion of smoothness for this path. The closer the value is to 0, the smoother the path...
double clearance(void) const
Compute the clearance of the way-points along the path (no interpolation is performed). Detailed formula follows.