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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">*  &quot;AS IS&quot; 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_PATH_CONTROL_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTROL_PATH_CONTROL_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/control/SpaceInformation.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/base/Path.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/geometric/PathGeometric.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00044"></a>00044 
<a name="l00045"></a>00045 <span class="keyword">namespace </span>ompl
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047     <span class="keyword">namespace </span>control
<a name="l00048"></a>00048     {
<a name="l00049"></a>00049 
<a name="l00054"></a><a class="code" href="classompl_1_1control_1_1PathControl.html">00054</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a> : <span class="keyword">public</span> base::Path
<a name="l00055"></a>00055         {
<a name="l00056"></a>00056         <span class="keyword">public</span>:
<a name="l00057"></a>00057 
<a name="l00059"></a>00059             <a class="code" href="classompl_1_1control_1_1PathControl.html#acad02bde7b3869b242e5bf7f2b9d9546" title="Constructor.">PathControl</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> &amp;si);
<a name="l00060"></a>00060 
<a name="l00062"></a>00062             <a class="code" href="classompl_1_1control_1_1PathControl.html#acad02bde7b3869b242e5bf7f2b9d9546" title="Constructor.">PathControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a> &amp;path);
<a name="l00063"></a>00063 
<a name="l00064"></a>00064             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>(<span class="keywordtype">void</span>)
<a name="l00065"></a>00065             {
<a name="l00066"></a>00066                 <a class="code" href="classompl_1_1control_1_1PathControl.html#a0c503c93b4ab95356d4c08e482d11f7c" title="Free the memory allocated by the path.">freeMemory</a>();
<a name="l00067"></a>00067             }
<a name="l00068"></a>00068 
<a name="l00070"></a>00070             <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>&amp; <a class="code" href="classompl_1_1control_1_1PathControl.html#aae38b0401aa76d832ad9098d51065130" title="Assignment operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>&amp; other);
<a name="l00071"></a>00071 
<a name="l00073"></a>00073             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#a97e5f036db976943e2fd8981fa1576d9" title="The path length (sum of control durations)">length</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00074"></a>00074 
<a name="l00076"></a>00076             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#a9327a78ee2e1daa40ca9d36a985669cd" title="Check if the path is valid.">check</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00077"></a>00077 
<a name="l00079"></a>00079             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#a29fa8adb0eea5674ae095623f7a59f1d" title="Print the path to a stream.">print</a>(std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00080"></a>00080 
<a name="l00082"></a>00082             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#ada0ebf95a7cfc3b540e423aa1ba4b6f0" title="Make the path such that all controls are applied for a single time step (computes intermediate states...">interpolate</a>(<span class="keywordtype">void</span>);
<a name="l00083"></a>00083 
<a name="l00085"></a>00085             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#ac832244ac760aff8861762c989931864" title="Set this path to a random segment.">random</a>(<span class="keywordtype">void</span>);
<a name="l00086"></a>00086 
<a name="l00088"></a>00088             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#aa7f230dba3a6f6e2e7a59130fd4dd795" title="Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success.">randomValid</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts);
<a name="l00089"></a>00089 
<a name="l00091"></a>00091             <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">geometric::PathGeometric</a> <a class="code" href="classompl_1_1control_1_1PathControl.html#a3bca482c4b24fd3bec6dce4d1828e269" title="Convert this path into a geometric path (interpolation is performed and then states are copied)...">asGeometric</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00092"></a>00092 
<a name="l00094"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a2bd25b55f0de06ecac55cabb4b90a606">00094</a>             std::vector&lt;base::State*&gt;   <a class="code" href="classompl_1_1control_1_1PathControl.html#a2bd25b55f0de06ecac55cabb4b90a606" title="The list of states that make up the path.">states</a>;
<a name="l00095"></a>00095 
<a name="l00097"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a69d77e39906c91394470f9e988b4944a">00097</a>             std::vector&lt;Control*&gt;       <a class="code" href="classompl_1_1control_1_1PathControl.html#a69d77e39906c91394470f9e988b4944a" title="The control applied at each state. This array contains one element less than the list of states...">controls</a>;
<a name="l00098"></a>00098 
<a name="l00100"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a3a8b0e7b00684789eac7d51d65d81b49">00100</a>             std::vector&lt;double&gt;         <a class="code" href="classompl_1_1control_1_1PathControl.html#a3a8b0e7b00684789eac7d51d65d81b49" title="The duration of the control applied at each state. This array contains one element less than the list...">controlDurations</a>;
<a name="l00101"></a>00101 
<a name="l00102"></a>00102         <span class="keyword">protected</span>:
<a name="l00103"></a>00103 
<a name="l00105"></a>00105             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#a0c503c93b4ab95356d4c08e482d11f7c" title="Free the memory allocated by the path.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00106"></a>00106 
<a name="l00108"></a>00108             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#aba52a0ae46c87f57a8a4e9f75855cbc2" title="Copy the content of a path to this one.">copyFrom</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>&amp; other);
<a name="l00109"></a>00109 
<a name="l00110"></a>00110         };
<a name="l00111"></a>00111 
<a name="l00112"></a>00112     }
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114 
<a name="l00115"></a>00115 <span class="preprocessor">#endif</span>
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