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<div class="title">PathGeometric.h</div>  </div>
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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) 2008, Willow Garage, Inc.</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 Willow Garage 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_GEOMETRIC_PATH_GEOMETRIC_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PATH_GEOMETRIC_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/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 &lt;vector&gt;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;utility&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 
<a name="l00049"></a>00049     <span class="keyword">namespace </span>geometric
<a name="l00050"></a>00050     {
<a name="l00051"></a>00051 
<a name="l00055"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">00055</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> : <span class="keyword">public</span> base::Path
<a name="l00056"></a>00056         {
<a name="l00057"></a>00057         <span class="keyword">public</span>:
<a name="l00058"></a>00058 
<a name="l00060"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73">00060</a>             <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">PathGeometric</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) : base::<a class="code" href="classompl_1_1base_1_1Path.html#a920c55164f7d666cac78ce15342437d5" title="Constructor. A path must always know the space information it is part of.">Path</a>(si)
<a name="l00061"></a>00061             {
<a name="l00062"></a>00062             }
<a name="l00063"></a>00063 
<a name="l00065"></a>00065             <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">PathGeometric</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &amp;path);
<a name="l00066"></a>00066 
<a name="l00068"></a>00068             <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">PathGeometric</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, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state);
<a name="l00069"></a>00069 
<a name="l00070"></a>00070             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a>(<span class="keywordtype">void</span>)
<a name="l00071"></a>00071             {
<a name="l00072"></a>00072                 <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a4b42ad4c2bfbda7d61ba5156f7e25bc6" title="Free the memory corresponding to the states on this path.">freeMemory</a>();
<a name="l00073"></a>00073             }
<a name="l00074"></a>00074 
<a name="l00076"></a>00076             <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">PathGeometric</a>&amp; <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a44bcadcd08a5c494557652d7f75f0e17" title="Assignment operator.">operator=</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">PathGeometric</a>&amp; other);
<a name="l00077"></a>00077 
<a name="l00079"></a>00079             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a4fde73b06380b9bcc7080150178574e2" title="Compute the length of a geometric path (sum of lengths of segments that make up the path)...">length</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00080"></a>00080 
<a name="l00082"></a>00082             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ad73ad8a0b425d3c34280c8ba9289bba2" title="Check if the path is valid.">check</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00083"></a>00083 
<a name="l00087"></a>00087             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#abe347b38e774fa6f5486db354d48b667" title="Compute a notion of smootheness for this path. The closer the value is to 0, the smoother the path...">smoothness</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00088"></a>00088 
<a name="l00091"></a>00091             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#acf32f1979b45d64904711f7b3661fd97" title="Compute the clearance of the end points along the path (no interpolation is performed). The clearance for the points is averaged.">clearance</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00092"></a>00092 
<a name="l00103"></a>00103             std::pair&lt;bool, bool&gt; <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a348f26bf4989964dddf791ef746a9098" title="Check if the path is valid. If it is not, attempts are made to fix the path by sampling around invali...">checkAndRepair</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts);
<a name="l00104"></a>00104 
<a name="l00106"></a>00106             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a7a27d7d046e4fc52a18966cec79adbc1" title="Print the path to a stream.">print</a>(std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00107"></a>00107 
<a name="l00113"></a>00113             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1fa9d71073d2098993f96f056f69216e" title="Insert a number of states in a path so that the path is made up of (approximately) the states checked...">interpolate</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> count);
<a name="l00114"></a>00114 
<a name="l00119"></a>00119             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1fa9d71073d2098993f96f056f69216e" title="Insert a number of states in a path so that the path is made up of (approximately) the states checked...">interpolate</a>(<span class="keywordtype">void</span>);
<a name="l00120"></a>00120 
<a name="l00122"></a>00122             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a25f2ba684dce223adba8a3d896934e2a" title="Add a state at the middle of each segment.">subdivide</a>(<span class="keywordtype">void</span>);
<a name="l00123"></a>00123 
<a name="l00125"></a>00125             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ae4b56284e4b049df559fcb1320f69fa5" title="Reverse the path.">reverse</a>(<span class="keywordtype">void</span>);
<a name="l00126"></a>00126 
<a name="l00137"></a>00137             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#addc7c545fa8a284978c1e1e016425779" title="Overlay the path over on top of the current path. States are added to the current path if needed (by ...">overlay</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">PathGeometric</a> &amp;over, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> startIndex = 0);
<a name="l00138"></a>00138 
<a name="l00150"></a>00150             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#aa054135956c0ce6c7c447451a0a02cbb" title="Append path at the end of this path.">append</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">PathGeometric</a> &amp;path);
<a name="l00151"></a>00151 
<a name="l00153"></a>00153             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3f6694c69e6e19c1f6961f5e47db4440" title="Set this path to a random segment.">random</a>(<span class="keywordtype">void</span>);
<a name="l00154"></a>00154 
<a name="l00156"></a>00156             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1441132f612f309257fb172def71de1a" 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="l00157"></a>00157 
<a name="l00159"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4">00159</a>             std::vector&lt;base::State*&gt; <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>;
<a name="l00160"></a>00160 
<a name="l00161"></a>00161         <span class="keyword">protected</span>:
<a name="l00162"></a>00162 
<a name="l00164"></a>00164             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a4b42ad4c2bfbda7d61ba5156f7e25bc6" title="Free the memory corresponding to the states on this path.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00165"></a>00165 
<a name="l00167"></a>00167             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a79b0a01a8075a16666b475e1c0227968" title="Copy data to this path from another path instance.">copyFrom</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a>&amp; other);
<a name="l00168"></a>00168         };
<a name="l00169"></a>00169 
<a name="l00170"></a>00170     }
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172 
<a name="l00173"></a>00173 <span class="preprocessor">#endif</span>
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  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
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