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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_CONTROL_SIMPLE_SETUP_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTROL_SIMPLE_SETUP_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/base/Planner.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/control/SpaceInformation.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "ompl/control/PlannerData.h"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "ompl/base/ProblemDefinition.h"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "ompl/control/PathControl.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include "ompl/geometric/PathGeometric.h"</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include "ompl/util/Console.h"</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="keyword">namespace </span>ompl
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="keyword">namespace </span>control
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054
<a name="l00057"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html">00057</a> <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a control problem.">SimpleSetup</a>
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="keyword">public</span>:
<a name="l00060"></a>00060
<a name="l00062"></a>00062 <span class="keyword">explicit</span>
<a name="l00063"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ad6cb6079ac1d67a90ff88fcdd4e1a56d">00063</a> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ad6cb6079ac1d67a90ff88fcdd4e1a56d" title="Constructor needs the control space used for planning.">SimpleSetup</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a> &space) : <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a07e2cf7b8077d90ae8ce4f6c30a49cd0" title="Flag indicating whether the classes needed for planning are set up.">configured_</a>(false), <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#af5402de1220a497b5b1fc901f6452689" title="The amount of time the last planning step took.">planTime_</a>(0.0), <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a061986be314d1aa6f08c1301cf72c673" title="Interface for console output.">msg_</a>(<span class="stringliteral">"SimpleSetup"</span>)
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a>(space->getStateSpace(), space));
<a name="l00066"></a>00066 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">base::ProblemDefinition</a>(<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>));
<a name="l00067"></a>00067 }
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a control problem.">SimpleSetup</a>(<span class="keywordtype">void</span>)
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 }
<a name="l00072"></a>00072
<a name="l00074"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac992af52bc8e3e5548778f5359fe3875">00074</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::control::SpaceInformation.">SpaceInformationPtr</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac992af52bc8e3e5548778f5359fe3875" title="Get the current instance of the space information.">getSpaceInformation</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00075"></a>00075 <span class="keyword"> </span>{
<a name="l00076"></a>00076 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>;
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00080"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a6cda76e94248d30215ac275123477ee2">00080</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">base::ProblemDefinitionPtr</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a6cda76e94248d30215ac275123477ee2" title="Get the current instance of the problem definition.">getProblemDefinition</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00081"></a>00081 <span class="keyword"> </span>{
<a name="l00082"></a>00082 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>;
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00086"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a17406bf1e66f3ca388f4cde9aa4d4b20">00086</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a17406bf1e66f3ca388f4cde9aa4d4b20" title="Get the current instance of the state space.">getStateSpace</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00087"></a>00087 <span class="keyword"> </span>{
<a name="l00088"></a>00088 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->getStateSpace();
<a name="l00089"></a>00089 }
<a name="l00090"></a>00090
<a name="l00092"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a20ce3faeb0abf6377b50acda4e0f76d2">00092</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a20ce3faeb0abf6377b50acda4e0f76d2" title="Get the current instance of the control space.">getControlSpace</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00093"></a>00093 <span class="keyword"> </span>{
<a name="l00094"></a>00094 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->getControlSpace();
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096
<a name="l00098"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a3c16c7cb65aad8856c57b4353bbfdadc">00098</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateValidityCheckerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateValidityChecker.">base::StateValidityCheckerPtr</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a3c16c7cb65aad8856c57b4353bbfdadc" title="Get the current instance of the state validity checker.">getStateValidityChecker</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00099"></a>00099 <span class="keyword"> </span>{
<a name="l00100"></a>00100 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->getStateValidityChecker();
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="keyword">const</span> StatePropagatorPtr& getStatePropagator(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00104"></a>00104 <span class="keyword"> </span>{
<a name="l00105"></a>00105 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->getStatePropagator();
<a name="l00106"></a>00106 }
<a name="l00107"></a>00107
<a name="l00109"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a450d2a8cc1b5a1dc4c2a41d56a8f6565">00109</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalPtr.html" title="A boost shared pointer wrapper for ompl::base::Goal.">base::GoalPtr</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a450d2a8cc1b5a1dc4c2a41d56a8f6565" title="Get the current goal definition.">getGoal</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00110"></a>00110 <span class="keyword"> </span>{
<a name="l00111"></a>00111 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>->getGoal();
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113
<a name="l00115"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a94f2001c35ab82b5065141df8fc325a7">00115</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">base::PlannerPtr</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a94f2001c35ab82b5065141df8fc325a7" title="Get the current planner.">getPlanner</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00116"></a>00116 <span class="keyword"> </span>{
<a name="l00117"></a>00117 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a>;
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119
<a name="l00121"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a2873128ad688fbeaefdc68b7f92eb55f">00121</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a2873128ad688fbeaefdc68b7f92eb55f" title="Return true if a solution path is available (previous call to solve() was successful) and the solutio...">haveExactSolutionPath</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00122"></a>00122 <span class="keyword"> </span>{
<a name="l00123"></a>00123 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a573453358430deba20d2b97f79af2a91" title="Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.">haveSolutionPath</a>() && !<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a450d2a8cc1b5a1dc4c2a41d56a8f6565" title="Get the current goal definition.">getGoal</a>()->isApproximate();
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125
<a name="l00127"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a573453358430deba20d2b97f79af2a91">00127</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a573453358430deba20d2b97f79af2a91" title="Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.">haveSolutionPath</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00128"></a>00128 <span class="keyword"> </span>{
<a name="l00129"></a>00129 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a450d2a8cc1b5a1dc4c2a41d56a8f6565" title="Get the current goal definition.">getGoal</a>()->getSolutionPath();
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131
<a name="l00133"></a>00133 <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#aacd350f0002e3e0ffd608099484eabdb" title="Get the solution path. Throw an exception if no solution is available.">getSolutionPath</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00134"></a>00134
<a name="l00136"></a>00136 <a class="code" href="classompl_1_1control_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes.">control::PlannerData</a> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1e627596e3e9fb5894c7e7c28607640e" title="Get information about the exploration data structure the motion planner used.">getPlannerData</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00137"></a>00137
<a name="l00139"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a83836265f90c0d650edcb72610e4f690">00139</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a83836265f90c0d650edcb72610e4f690" title="Set the state validity checker to use.">setStateValidityChecker</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateValidityCheckerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateValidityChecker.">base::StateValidityCheckerPtr</a> &svc)
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->setStateValidityChecker(svc);
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143
<a name="l00145"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a415e21e0b3a793a880b4c297c92599eb">00145</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a83836265f90c0d650edcb72610e4f690" title="Set the state validity checker to use.">setStateValidityChecker</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#a208ad51fcef09961293d23b589a4dbfa" title="If no state validity checking class is specified (StateValidityChecker), a boost function can be spec...">base::StateValidityCheckerFn</a> &svc)
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->setStateValidityChecker(svc);
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149
<a name="l00151"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac43f41929f8bed01e61ef9b8d3ad7aed">00151</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac43f41929f8bed01e61ef9b8d3ad7aed" title="Set the function that performs state propagation.">setStatePropagator</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1control.html#acce331fefa24a5f76ce796c391090068" title="A function that achieves state propagation.">StatePropagatorFn</a> &sp)
<a name="l00152"></a>00152 {
<a name="l00153"></a>00153 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->setStatePropagator(sp);
<a name="l00154"></a>00154 }
<a name="l00155"></a>00155
<a name="l00157"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a55dec29f164862b0493b8981439506e9">00157</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac43f41929f8bed01e61ef9b8d3ad7aed" title="Set the function that performs state propagation.">setStatePropagator</a>(<span class="keyword">const</span> StatePropagatorPtr &sp)
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->setStatePropagator(sp);
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161
<a name="l00163"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a9ad38c8d4fa369fb8adb82e07840d81c">00163</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a9ad38c8d4fa369fb8adb82e07840d81c" title="Set the start and goal states to use.">setStartAndGoalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">base::ScopedState<></a> &start, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">base::ScopedState<></a> &goal, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold = std::numeric_limits<double>::epsilon())
<a name="l00164"></a>00164 {
<a name="l00165"></a>00165 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>->setStartAndGoalStates(start, goal, threshold);
<a name="l00166"></a>00166 }
<a name="l00167"></a>00167
<a name="l00169"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a4fbdf2637f503a03e39bbc7ab637b687">00169</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a4fbdf2637f503a03e39bbc7ab637b687" title="A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.">setGoalState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">base::ScopedState<></a> &goal, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold = std::numeric_limits<double>::epsilon())
<a name="l00170"></a>00170 {
<a name="l00171"></a>00171 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>->setGoalState(goal, threshold);
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173
<a name="l00176"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a10cbfb4aff914e9c7ec71f4e1e2cf546">00176</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a10cbfb4aff914e9c7ec71f4e1e2cf546" title="Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...">addStartState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">base::ScopedState<></a> &state)
<a name="l00177"></a>00177 {
<a name="l00178"></a>00178 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>->addStartState(state);
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180
<a name="l00182"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a90566e2ae49586081336c7ee17d54406">00182</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a90566e2ae49586081336c7ee17d54406" title="Clear the currently set starting states.">clearStartStates</a>(<span class="keywordtype">void</span>)
<a name="l00183"></a>00183 {
<a name="l00184"></a>00184 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>->clearStartStates();
<a name="l00185"></a>00185 }
<a name="l00186"></a>00186
<a name="l00188"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a310f28cce26733d75f9388a5026a6382">00188</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a310f28cce26733d75f9388a5026a6382" title="Clear the currently set starting states and add state as the starting state.">setStartState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">base::ScopedState<></a> &state)
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a90566e2ae49586081336c7ee17d54406" title="Clear the currently set starting states.">clearStartStates</a>();
<a name="l00191"></a>00191 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a10cbfb4aff914e9c7ec71f4e1e2cf546" title="Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...">addStartState</a>(state);
<a name="l00192"></a>00192 }
<a name="l00193"></a>00193
<a name="l00196"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac72f0ae91f54d455afb385f770870091">00196</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac72f0ae91f54d455afb385f770870091" title="Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called...">setGoal</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalPtr.html" title="A boost shared pointer wrapper for ompl::base::Goal.">base::GoalPtr</a> &goal)
<a name="l00197"></a>00197 {
<a name="l00198"></a>00198 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>->setGoal(goal);
<a name="l00199"></a>00199 }
<a name="l00200"></a>00200
<a name="l00205"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a09bcf889f9bf5d96fbc0c995535e4706">00205</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a09bcf889f9bf5d96fbc0c995535e4706" title="Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator...">setPlanner</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">base::PlannerPtr</a> &planner)
<a name="l00206"></a>00206 {
<a name="l00207"></a>00207 <span class="keywordflow">if</span> (planner && planner->getSpaceInformation().get() != <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>.get())
<a name="l00208"></a>00208 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Planner instance does not match space information"</span>);
<a name="l00209"></a>00209 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a> = planner;
<a name="l00210"></a>00210 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a07e2cf7b8077d90ae8ce4f6c30a49cd0" title="Flag indicating whether the classes needed for planning are set up.">configured_</a> = <span class="keyword">false</span>;
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212
<a name="l00216"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#aad0b69f028201b65bac027ba080146aa">00216</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#aad0b69f028201b65bac027ba080146aa" title="Set the planner allocator to use. This is only used if no planner has been set. This is optional -- a...">setPlannerAllocator</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#a52191d97eed3ef76517fd4f6f94d27a9" title="Definition of a function that can allocate a planner.">base::PlannerAllocator</a> &pa)
<a name="l00217"></a>00217 {
<a name="l00218"></a>00218 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1cf42df203befd44e0d27ea0fa697191" title="The optional planner allocator.">pa_</a> = pa;
<a name="l00219"></a>00219 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a>.reset();
<a name="l00220"></a>00220 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a07e2cf7b8077d90ae8ce4f6c30a49cd0" title="Flag indicating whether the classes needed for planning are set up.">configured_</a> = <span class="keyword">false</span>;
<a name="l00221"></a>00221 }
<a name="l00222"></a>00222
<a name="l00224"></a>00224 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a279efbe5f659a47e1749a3947a1f978e" title="Run the planner for a specified amount of time (default is 1 second)">solve</a>(<span class="keywordtype">double</span> time = 1.0);
<a name="l00225"></a>00225
<a name="l00227"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ad269644cce823f54f6124e49566e7e90">00227</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ad269644cce823f54f6124e49566e7e90" title="Get the amount of time (in seconds) spent during the last planning step.">getLastPlanComputationTime</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00228"></a>00228 <span class="keyword"> </span>{
<a name="l00229"></a>00229 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#af5402de1220a497b5b1fc901f6452689" title="The amount of time the last planning step took.">planTime_</a>;
<a name="l00230"></a>00230 }
<a name="l00231"></a>00231
<a name="l00235"></a>00235 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a7f44da72fe96fb4e0326962d2ed6a52c" title="Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.">clear</a>(<span class="keywordtype">void</span>);
<a name="l00236"></a>00236
<a name="l00238"></a>00238 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac215c0aaffc786d112c88f050cbf4164" title="Print information about the current setup.">print</a>(std::ostream &out = std::cout) <span class="keyword">const</span>;
<a name="l00239"></a>00239
<a name="l00243"></a>00243 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a6b3e6976af723f42cbbabbe41a51d898" title="This method will create the necessary classes for planning. The solve() method will call this functio...">setup</a>(<span class="keywordtype">void</span>);
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="keyword">protected</span>:
<a name="l00246"></a>00246
<a name="l00248"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80">00248</a> <a class="code" href="classompl_1_1control_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::control::SpaceInformation.">SpaceInformationPtr</a> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>;
<a name="l00249"></a>00249
<a name="l00251"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc">00251</a> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">base::ProblemDefinitionPtr</a> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>;
<a name="l00252"></a>00252
<a name="l00254"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f">00254</a> <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">base::PlannerPtr</a> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a>;
<a name="l00255"></a>00255
<a name="l00257"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1cf42df203befd44e0d27ea0fa697191">00257</a> <a class="code" href="namespaceompl_1_1base.html#a52191d97eed3ef76517fd4f6f94d27a9" title="Definition of a function that can allocate a planner.">base::PlannerAllocator</a> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1cf42df203befd44e0d27ea0fa697191" title="The optional planner allocator.">pa_</a>;
<a name="l00258"></a>00258
<a name="l00260"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a07e2cf7b8077d90ae8ce4f6c30a49cd0">00260</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a07e2cf7b8077d90ae8ce4f6c30a49cd0" title="Flag indicating whether the classes needed for planning are set up.">configured_</a>;
<a name="l00261"></a>00261
<a name="l00263"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#af5402de1220a497b5b1fc901f6452689">00263</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#af5402de1220a497b5b1fc901f6452689" title="The amount of time the last planning step took.">planTime_</a>;
<a name="l00264"></a>00264
<a name="l00266"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a061986be314d1aa6f08c1301cf72c673">00266</a> <a class="code" href="classompl_1_1msg_1_1Interface.html" title="The piece of code that desires interaction with an action or an output handler should use an instance...">msg::Interface</a> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a061986be314d1aa6f08c1301cf72c673" title="Interface for console output.">msg_</a>;
<a name="l00267"></a>00267 };
<a name="l00268"></a>00268
<a name="l00270"></a>00270 <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">base::PlannerPtr</a> <a class="code" href="namespaceompl_1_1control.html#aa8437cb69cc2be3f2184cacfe3720758" title="Given a goal specification, decide on a planner for that goal.">getDefaultPlanner</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalPtr.html" title="A boost shared pointer wrapper for ompl::base::Goal.">base::GoalPtr</a> &goal);
<a name="l00271"></a>00271 }
<a name="l00272"></a>00272
<a name="l00273"></a>00273 }
<a name="l00274"></a>00274 <span class="preprocessor">#endif</span>
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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