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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_GEOMETRIC_SIMPLE_SETUP_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_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/base/SpaceInformation.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "ompl/base/ProblemDefinition.h"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "ompl/geometric/PathGeometric.h"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "ompl/geometric/PathSimplifier.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include "ompl/util/Console.h"</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00047"></a>00047
<a name="l00048"></a>00048 <span class="keyword">namespace </span>ompl
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keyword">namespace </span>geometric
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053
<a name="l00056"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html">00056</a> <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a geometric problem.">SimpleSetup</a>
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">public</span>:
<a name="l00059"></a>00059
<a name="l00061"></a>00061 <span class="keyword">explicit</span>
<a name="l00062"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#af945064d1e9216058e5ad1a4daa8d1f1">00062</a> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#af945064d1e9216058e5ad1a4daa8d1f1" title="Constructor needs the state space used for planning.">SimpleSetup</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> &space) : <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a4a346b6fccff04f3df867d78dba27db4" title="Flag indicating whether the classes needed for planning are set up.">configured_</a>(false), <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a1747fe1bdce1cb4c9284c98f381fcc1b" title="The amount of time the last planning step took.">planTime_</a>(0.0), <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a07bd87a344ef361d581b799e75471307" title="The amount of time the last path simplification step took.">simplifyTime_</a>(0.0), <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#af64e7555e6ad536107942b2922ce22aa" title="Interface for console output.">msg_</a>(<span class="stringliteral">"SimpleSetup"</span>)
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" title="The created space information.">si_</a>.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">base::SpaceInformation</a>(space));
<a name="l00065"></a>00065 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" 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_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" title="The created space information.">si_</a>));
<a name="l00066"></a>00066 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a0b1dcfac122177dfdd3d64a0bbf86212" title="The instance of the path simplifier.">psk_</a>.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1PathSimplifier.html" title="This class contains routines that attempt to simplify geometric paths.">PathSimplifier</a>(<a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" 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_1geometric_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a geometric 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_1geometric_1_1SimpleSetup.html#a1d971cd6f69b19d3bfc5d2e1e1ff2282">00074</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a>& <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a1d971cd6f69b19d3bfc5d2e1e1ff2282" 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_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" 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_1geometric_1_1SimpleSetup.html#a59fe41a05fd3e921103dface4b35cac7">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_1geometric_1_1SimpleSetup.html#a59fe41a05fd3e921103dface4b35cac7" 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_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" 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_1geometric_1_1SimpleSetup.html#a2c19834748f3c742be67eb0ce160253b">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_1geometric_1_1SimpleSetup.html#a2c19834748f3c742be67eb0ce160253b" 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_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" 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_1geometric_1_1SimpleSetup.html#ada5fa8f06af077aed5c4340639217b62">00092</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_1geometric_1_1SimpleSetup.html#ada5fa8f06af077aed5c4340639217b62" title="Get the current instance of the state validity checker.">getStateValidityChecker</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_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" title="The created space information.">si_</a>->getStateValidityChecker();
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096
<a name="l00098"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ae7e34922f1877596c5aeb9561326ac98">00098</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_1geometric_1_1SimpleSetup.html#ae7e34922f1877596c5aeb9561326ac98" title="Get the current goal definition.">getGoal</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_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" title="The created problem definition.">pdef_</a>->getGoal();
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00104"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a59bc33ed671d1e654c78d7703564f1e2">00104</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_1geometric_1_1SimpleSetup.html#a59bc33ed671d1e654c78d7703564f1e2" title="Get the current planner.">getPlanner</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00105"></a>00105 <span class="keyword"> </span>{
<a name="l00106"></a>00106 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a580b3608f6b473a1ea0bc5febd0b83cc" title="The maintained planner instance.">planner_</a>;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108
<a name="l00110"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#abf0fe47835a29a9df58d6de762beca63">00110</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathSimplifierPtr.html" title="A boost shared pointer wrapper for ompl::geometric::PathSimplifier.">PathSimplifierPtr</a>& <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#abf0fe47835a29a9df58d6de762beca63" title="Get the path simplifier.">getPathSimplifier</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00111"></a>00111 <span class="keyword"> </span>{
<a name="l00112"></a>00112 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a0b1dcfac122177dfdd3d64a0bbf86212" title="The instance of the path simplifier.">psk_</a>;
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114
<a name="l00116"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a6455ea0313d0ab899852006d5fe72fc6">00116</a> <a class="code" href="classompl_1_1geometric_1_1PathSimplifierPtr.html" title="A boost shared pointer wrapper for ompl::geometric::PathSimplifier.">PathSimplifierPtr</a>& <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#abf0fe47835a29a9df58d6de762beca63" title="Get the path simplifier.">getPathSimplifier</a>(<span class="keywordtype">void</span>)
<a name="l00117"></a>00117 {
<a name="l00118"></a>00118 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a0b1dcfac122177dfdd3d64a0bbf86212" title="The instance of the path simplifier.">psk_</a>;
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120
<a name="l00122"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a4044f544ea2e436a13d42fdd1ef378e2">00122</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a4044f544ea2e436a13d42fdd1ef378e2" 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="l00123"></a>00123 <span class="keyword"> </span>{
<a name="l00124"></a>00124 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a1e70f6b31c422cfa937d8f307726c54c" 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_1geometric_1_1SimpleSetup.html#ae7e34922f1877596c5aeb9561326ac98" title="Get the current goal definition.">getGoal</a>()->isApproximate();
<a name="l00125"></a>00125 }
<a name="l00126"></a>00126
<a name="l00128"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a1e70f6b31c422cfa937d8f307726c54c">00128</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a1e70f6b31c422cfa937d8f307726c54c" 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="l00129"></a>00129 <span class="keyword"> </span>{
<a name="l00130"></a>00130 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ae7e34922f1877596c5aeb9561326ac98" title="Get the current goal definition.">getGoal</a>()->getSolutionPath();
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00134"></a>00134 <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a>& <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aefc524cec2c127d9eced1465c2dd71cf" 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="l00135"></a>00135
<a name="l00137"></a>00137 <a class="code" href="classompl_1_1base_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes.">base::PlannerData</a> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a8e07d6ccdbf405a8acfff912f0b25581" 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="l00138"></a>00138
<a name="l00140"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a6774bcc65c0968e2cb927bab464a3aad">00140</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a6774bcc65c0968e2cb927bab464a3aad" 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="l00141"></a>00141 {
<a name="l00142"></a>00142 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" title="The created space information.">si_</a>->setStateValidityChecker(svc);
<a name="l00143"></a>00143 }
<a name="l00144"></a>00144
<a name="l00146"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ad6b07d6a351500ea1333151733b254e2">00146</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a6774bcc65c0968e2cb927bab464a3aad" 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="l00147"></a>00147 {
<a name="l00148"></a>00148 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" title="The created space information.">si_</a>->setStateValidityChecker(svc);
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150
<a name="l00152"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a5613360d370f7c68adde45f03d1966d3">00152</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a5613360d370f7c68adde45f03d1966d3" 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,
<a name="l00153"></a>00153 <span class="keyword">const</span> <span class="keywordtype">double</span> threshold = std::numeric_limits<double>::epsilon())
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" title="The created problem definition.">pdef_</a>->setStartAndGoalStates(start, goal, threshold);
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00160"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab1dc047ae0b70d3492d7e222f56d83a7">00160</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab1dc047ae0b70d3492d7e222f56d83a7" 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="l00161"></a>00161 {
<a name="l00162"></a>00162 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" title="The created problem definition.">pdef_</a>->addStartState(state);
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164
<a name="l00166"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a02a0d0bec46bd4aaef232d1707ddd26d">00166</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a02a0d0bec46bd4aaef232d1707ddd26d" title="Clear the currently set starting states.">clearStartStates</a>(<span class="keywordtype">void</span>)
<a name="l00167"></a>00167 {
<a name="l00168"></a>00168 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" title="The created problem definition.">pdef_</a>->clearStartStates();
<a name="l00169"></a>00169 }
<a name="l00170"></a>00170
<a name="l00172"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aee17b73abd2876dc4dbffd02038ded34">00172</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aee17b73abd2876dc4dbffd02038ded34" 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="l00173"></a>00173 {
<a name="l00174"></a>00174 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a02a0d0bec46bd4aaef232d1707ddd26d" title="Clear the currently set starting states.">clearStartStates</a>();
<a name="l00175"></a>00175 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab1dc047ae0b70d3492d7e222f56d83a7" title="Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...">addStartState</a>(state);
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177
<a name="l00179"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a8bb806d078ddaded372d7cbe4b1ef82a">00179</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a8bb806d078ddaded372d7cbe4b1ef82a" 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="l00180"></a>00180 {
<a name="l00181"></a>00181 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" title="The created problem definition.">pdef_</a>->setGoalState(goal, threshold);
<a name="l00182"></a>00182 }
<a name="l00183"></a>00183
<a name="l00186"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a6f6e9a1b5facde7915f51e86b48860e9">00186</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a6f6e9a1b5facde7915f51e86b48860e9" 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="l00187"></a>00187 {
<a name="l00188"></a>00188 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" title="The created problem definition.">pdef_</a>->setGoal(goal);
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190
<a name="l00195"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a8a94558b2ece27d938a92b062d55df71">00195</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a8a94558b2ece27d938a92b062d55df71" 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="l00196"></a>00196 {
<a name="l00197"></a>00197 <span class="keywordflow">if</span> (planner && planner->getSpaceInformation().get() != <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" title="The created space information.">si_</a>.get())
<a name="l00198"></a>00198 <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="l00199"></a>00199 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a580b3608f6b473a1ea0bc5febd0b83cc" title="The maintained planner instance.">planner_</a> = planner;
<a name="l00200"></a>00200 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a4a346b6fccff04f3df867d78dba27db4" title="Flag indicating whether the classes needed for planning are set up.">configured_</a> = <span class="keyword">false</span>;
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202
<a name="l00206"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a9e2d929e58376c4806234b6a473cd3e8">00206</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a9e2d929e58376c4806234b6a473cd3e8" 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="l00207"></a>00207 {
<a name="l00208"></a>00208 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#af0eec15376eb6e47b0ad03e7f281c420" title="The optional planner allocator.">pa_</a> = pa;
<a name="l00209"></a>00209 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a580b3608f6b473a1ea0bc5febd0b83cc" title="The maintained planner instance.">planner_</a>.reset();
<a name="l00210"></a>00210 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a4a346b6fccff04f3df867d78dba27db4" 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="l00214"></a>00214 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#afa5c405eac3a1b71247aa93cc2b1c3e0" 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="l00215"></a>00215
<a name="l00217"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a57d25c8b43cbe00f2c981fe3f6190b5e">00217</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a57d25c8b43cbe00f2c981fe3f6190b5e" 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="l00218"></a>00218 <span class="keyword"> </span>{
<a name="l00219"></a>00219 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a1747fe1bdce1cb4c9284c98f381fcc1b" title="The amount of time the last planning step took.">planTime_</a>;
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221
<a name="l00223"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a2eb9cd8774d61c9bccf1645a31b08225">00223</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a2eb9cd8774d61c9bccf1645a31b08225" title="Get the amount of time (in seconds) spend during the last path simplification step.">getLastSimplificationTime</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00224"></a>00224 <span class="keyword"> </span>{
<a name="l00225"></a>00225 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a07bd87a344ef361d581b799e75471307" title="The amount of time the last path simplification step took.">simplifyTime_</a>;
<a name="l00226"></a>00226 }
<a name="l00227"></a>00227
<a name="l00229"></a>00229 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a54eb32b536793a1f716fa7c4c2de9b5b" title="Attempt to simplify the current solution path.">simplifySolution</a>(<span class="keywordtype">void</span>);
<a name="l00230"></a>00230
<a name="l00234"></a>00234 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a5c93883efc9e53e46e7778ebb598d220" 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="l00235"></a>00235
<a name="l00237"></a>00237 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ae787775ec6d05e0e9dcd6cd379839ce5" title="Print information about the current setup.">print</a>(std::ostream &out = std::cout) <span class="keyword">const</span>;
<a name="l00238"></a>00238
<a name="l00242"></a>00242 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#af7196b38f02c10a5c2fc13261ce29781" 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="l00243"></a>00243
<a name="l00244"></a>00244 <span class="keyword">protected</span>:
<a name="l00245"></a>00245
<a name="l00247"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">00247</a> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45" title="The created space information.">si_</a>;
<a name="l00248"></a>00248
<a name="l00250"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a">00250</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_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a" title="The created problem definition.">pdef_</a>;
<a name="l00251"></a>00251
<a name="l00253"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a580b3608f6b473a1ea0bc5febd0b83cc">00253</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_1geometric_1_1SimpleSetup.html#a580b3608f6b473a1ea0bc5febd0b83cc" title="The maintained planner instance.">planner_</a>;
<a name="l00254"></a>00254
<a name="l00256"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#af0eec15376eb6e47b0ad03e7f281c420">00256</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_1geometric_1_1SimpleSetup.html#af0eec15376eb6e47b0ad03e7f281c420" title="The optional planner allocator.">pa_</a>;
<a name="l00257"></a>00257
<a name="l00259"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a0b1dcfac122177dfdd3d64a0bbf86212">00259</a> <a class="code" href="classompl_1_1geometric_1_1PathSimplifierPtr.html" title="A boost shared pointer wrapper for ompl::geometric::PathSimplifier.">PathSimplifierPtr</a> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a0b1dcfac122177dfdd3d64a0bbf86212" title="The instance of the path simplifier.">psk_</a>;
<a name="l00260"></a>00260
<a name="l00262"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a4a346b6fccff04f3df867d78dba27db4">00262</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a4a346b6fccff04f3df867d78dba27db4" title="Flag indicating whether the classes needed for planning are set up.">configured_</a>;
<a name="l00263"></a>00263
<a name="l00265"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a1747fe1bdce1cb4c9284c98f381fcc1b">00265</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a1747fe1bdce1cb4c9284c98f381fcc1b" title="The amount of time the last planning step took.">planTime_</a>;
<a name="l00266"></a>00266
<a name="l00268"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a07bd87a344ef361d581b799e75471307">00268</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a07bd87a344ef361d581b799e75471307" title="The amount of time the last path simplification step took.">simplifyTime_</a>;
<a name="l00269"></a>00269
<a name="l00271"></a><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#af64e7555e6ad536107942b2922ce22aa">00271</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_1geometric_1_1SimpleSetup.html#af64e7555e6ad536107942b2922ce22aa" title="Interface for console output.">msg_</a>;
<a name="l00272"></a>00272
<a name="l00273"></a>00273 };
<a name="l00274"></a>00274
<a name="l00276"></a>00276 <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_1geometric.html#a123e2234df405f726e2e47168b13b9c8" 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="l00277"></a>00277 }
<a name="l00278"></a>00278
<a name="l00279"></a>00279 }
<a name="l00280"></a>00280 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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