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Sophie

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ompl-devel-0.9.5-1.fc14.i686.rpm

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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_BASE_PROBLEM_DEFINITION_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_PROBLEM_DEFINITION_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/State.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/base/Goal.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/base/SpaceInformation.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &quot;ompl/util/Console.h&quot;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &quot;ompl/util/ClassForward.h&quot;</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include &quot;ompl/base/ScopedState.h&quot;</span>
<a name="l00046"></a>00046 
<a name="l00047"></a>00047 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00048"></a>00048 <span class="preprocessor">#include &lt;cstdlib&gt;</span>
<a name="l00049"></a>00049 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00050"></a>00050 <span class="preprocessor">#include &lt;limits&gt;</span>
<a name="l00051"></a>00051 
<a name="l00052"></a>00052 <span class="preprocessor">#include &lt;boost/noncopyable.hpp&gt;</span>
<a name="l00053"></a>00053 
<a name="l00054"></a>00054 <span class="keyword">namespace </span>ompl
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056     <span class="keyword">namespace </span>base
<a name="l00057"></a>00057     {
<a name="l00058"></a>00058 
<a name="l00060"></a>00060         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(ProblemDefinition);
<a name="l00061"></a>00061 
<a name="l00067"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html">00067</a>         <span class="keyword">class </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...">ProblemDefinition</a> : <span class="keyword">private</span> boost::noncopyable
<a name="l00068"></a>00068         {
<a name="l00069"></a>00069         <span class="keyword">public</span>:
<a name="l00070"></a>00070 
<a name="l00072"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a1626717b23766adb3e901bc2ff746744">00072</a>             <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a1626717b23766adb3e901bc2ff746744" title="Create a problem definition given the SpaceInformation it is part of.">ProblemDefinition</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.">SpaceInformationPtr</a> &amp;si) : <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac24e830b5fedc3642f3b3c4194d0decb" title="The space information this problem definition is for.">si_</a>(si)
<a name="l00073"></a>00073             {
<a name="l00074"></a>00074             }
<a name="l00075"></a>00075 
<a name="l00076"></a>00076             <span class="keyword">virtual</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...">ProblemDefinition</a>(<span class="keywordtype">void</span>)
<a name="l00077"></a>00077             {
<a name="l00078"></a>00078                 <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac21b7750c81186c872485cc4231a9fd0" title="Clear all start states (memory is freed)">clearStartStates</a>();
<a name="l00079"></a>00079             }
<a name="l00080"></a>00080 
<a name="l00082"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a3120682d036099f68fd26805fee0736d">00082</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a3120682d036099f68fd26805fee0736d" title="Add a start state. The state is copied.">addStartState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)
<a name="l00083"></a>00083             {
<a name="l00084"></a>00084                 <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>.push_back(<a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac24e830b5fedc3642f3b3c4194d0decb" title="The space information this problem definition is for.">si_</a>-&gt;cloneState(state));
<a name="l00085"></a>00085             }
<a name="l00086"></a>00086 
<a name="l00088"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a874c33b1adab325a2ebf489fa04b8099">00088</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a3120682d036099f68fd26805fee0736d" title="Add a start state. The state is copied.">addStartState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ScopedState&lt;&gt;</a> &amp;state)
<a name="l00089"></a>00089             {
<a name="l00090"></a>00090                 <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>.push_back(<a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac24e830b5fedc3642f3b3c4194d0decb" title="The space information this problem definition is for.">si_</a>-&gt;cloneState(state.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>()));
<a name="l00091"></a>00091             }
<a name="l00092"></a>00092 
<a name="l00096"></a>00096             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a8b292f3df6545bb90fbeff72e11f0b59" title="Check whether a specified starting state is already included in the problem definition and optionally...">hasStartState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> *startIndex = NULL);
<a name="l00097"></a>00097 
<a name="l00099"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac21b7750c81186c872485cc4231a9fd0">00099</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac21b7750c81186c872485cc4231a9fd0" title="Clear all start states (memory is freed)">clearStartStates</a>(<span class="keywordtype">void</span>)
<a name="l00100"></a>00100             {
<a name="l00101"></a>00101                 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>.size() ; ++i)
<a name="l00102"></a>00102                     <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac24e830b5fedc3642f3b3c4194d0decb" title="The space information this problem definition is for.">si_</a>-&gt;freeState(<a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>[i]);
<a name="l00103"></a>00103                 <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>.clear();
<a name="l00104"></a>00104             }
<a name="l00105"></a>00105 
<a name="l00107"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a403e32d54b512e5610435a7443608923">00107</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a403e32d54b512e5610435a7443608923" title="Returns the number of start states.">getStartStateCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00108"></a>00108 <span class="keyword">            </span>{
<a name="l00109"></a>00109                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>.size();
<a name="l00110"></a>00110             }
<a name="l00111"></a>00111 
<a name="l00113"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#aaf141b46b6b36418bc115fcb5e8afff3">00113</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#aaf141b46b6b36418bc115fcb5e8afff3" title="Returns a specific start state.">getStartState</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00114"></a>00114 <span class="keyword">            </span>{
<a name="l00115"></a>00115                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>[index];
<a name="l00116"></a>00116             }
<a name="l00117"></a>00117 
<a name="l00119"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ad9fb68d7aab6f613645cf02fa6995c52">00119</a>             <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#aaf141b46b6b36418bc115fcb5e8afff3" title="Returns a specific start state.">getStartState</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)
<a name="l00120"></a>00120             {
<a name="l00121"></a>00121                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>[index];
<a name="l00122"></a>00122             }
<a name="l00123"></a>00123 
<a name="l00125"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a039bef3abd7e8319e4ea2e4cda752ff6">00125</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a039bef3abd7e8319e4ea2e4cda752ff6" title="Set the goal.">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.">GoalPtr</a> &amp;goal)
<a name="l00126"></a>00126             {
<a name="l00127"></a>00127                 <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a3bdc61f288bbf3f1dece9a275cd2c113" title="The goal representation.">goal_</a> = goal;
<a name="l00128"></a>00128             }
<a name="l00129"></a>00129 
<a name="l00131"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a5de8ae94efc42f4b8055292e7cd2e980">00131</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a5de8ae94efc42f4b8055292e7cd2e980" title="Clear the goal. Memory is freed.">clearGoal</a>(<span class="keywordtype">void</span>)
<a name="l00132"></a>00132             {
<a name="l00133"></a>00133                 <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a3bdc61f288bbf3f1dece9a275cd2c113" title="The goal representation.">goal_</a>.reset();
<a name="l00134"></a>00134             }
<a name="l00135"></a>00135 
<a name="l00137"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac499610c18458d89bbe727127d420b52">00137</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.">GoalPtr</a>&amp; <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac499610c18458d89bbe727127d420b52" title="Return the current goal.">getGoal</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00138"></a>00138 <span class="keyword">            </span>{
<a name="l00139"></a>00139                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a3bdc61f288bbf3f1dece9a275cd2c113" title="The goal representation.">goal_</a>;
<a name="l00140"></a>00140             }
<a name="l00141"></a>00141 
<a name="l00146"></a>00146             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a817035d12f2b66e0cb9bbf339b56921e" title="Get all the input states. This includes start states and states that are part of goal regions that ca...">getInputStates</a>(std::vector&lt;const State*&gt; &amp;states) <span class="keyword">const</span>;
<a name="l00147"></a>00147 
<a name="l00155"></a>00155             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a9ab5830fd9366be606349ea1885a3695" title="In the simplest case possible, we have a single starting state and a single goal state.">setStartAndGoalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *start, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *goal, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold = std::numeric_limits&lt;double&gt;::epsilon());
<a name="l00156"></a>00156 
<a name="l00158"></a>00158             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a5cd271339a73f61bc1b13588a92a36d7" title="A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is ...">setGoalState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *goal, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold = std::numeric_limits&lt;double&gt;::epsilon());
<a name="l00159"></a>00159 
<a name="l00161"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a5ada7160decb7894ac566615eb22633a">00161</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a9ab5830fd9366be606349ea1885a3695" title="In the simplest case possible, we have a single starting state and a single goal state.">setStartAndGoalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ScopedState&lt;&gt;</a> &amp;start, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ScopedState&lt;&gt;</a> &amp;goal, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold = std::numeric_limits&lt;double&gt;::epsilon())
<a name="l00162"></a>00162             {
<a name="l00163"></a>00163                 <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a9ab5830fd9366be606349ea1885a3695" title="In the simplest case possible, we have a single starting state and a single goal state.">setStartAndGoalStates</a>(start.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>(), goal.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>(), threshold);
<a name="l00164"></a>00164             }
<a name="l00165"></a>00165 
<a name="l00167"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a935f86078c4e65dd397db736c02b3c81">00167</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a5cd271339a73f61bc1b13588a92a36d7" title="A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is ...">setGoalState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ScopedState&lt;&gt;</a> &amp;goal, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold = std::numeric_limits&lt;double&gt;::epsilon())
<a name="l00168"></a>00168             {
<a name="l00169"></a>00169                 <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a5cd271339a73f61bc1b13588a92a36d7" title="A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is ...">setGoalState</a>(goal.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>(), threshold);
<a name="l00170"></a>00170             }
<a name="l00171"></a>00171 
<a name="l00177"></a>00177             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ae8c6ae8979fb163fd01387c4a9f8fd2b" title="A problem is trivial if a given starting state already in the goal region, so we need no motion plann...">isTrivial</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> *startIndex = NULL, <span class="keywordtype">double</span> *distance = NULL) <span class="keyword">const</span>;
<a name="l00178"></a>00178 
<a name="l00191"></a>00191             <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">PathPtr</a> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a45aac71e8031a0cda6e38efef737e5c3" title="Check if a straight line path is valid. If it is, return an instance of a path that represents the st...">isStraightLinePathValid</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00192"></a>00192 
<a name="l00197"></a>00197             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a74aa8792df6065a84f1b602db53d108c" title="Many times the start or goal state will barely touch an obstacle. In this case, we may want to automa...">fixInvalidInputStates</a>(<span class="keywordtype">double</span> distStart, <span class="keywordtype">double</span> distGoal, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts);
<a name="l00198"></a>00198 
<a name="l00200"></a>00200             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a76cd24bc1d239ffa674967c004c7df20" title="Print information about the start and goal states.">print</a>(std::ostream &amp;out = std::cout) <span class="keyword">const</span>;
<a name="l00201"></a>00201 
<a name="l00202"></a>00202         <span class="keyword">protected</span>:
<a name="l00203"></a>00203 
<a name="l00205"></a>00205             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a4afcbeee27af97ac5eefdc40ea8ecfbe" title="Helper function for fixInvalidInputStates(). Attempts to fix an individual state.">fixInvalidInputState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keywordtype">double</span> dist, <span class="keywordtype">bool</span> start, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts);
<a name="l00206"></a>00206 
<a name="l00208"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac24e830b5fedc3642f3b3c4194d0decb">00208</a>             <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">SpaceInformationPtr</a>  <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ac24e830b5fedc3642f3b3c4194d0decb" title="The space information this problem definition is for.">si_</a>;
<a name="l00209"></a>00209 
<a name="l00211"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82">00211</a>             std::vector&lt;State*&gt;  <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#ab545e2929804683e9841c27d492dae82" title="The set of start states.">startStates_</a>;
<a name="l00212"></a>00212 
<a name="l00214"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a3bdc61f288bbf3f1dece9a275cd2c113">00214</a>             <a class="code" href="classompl_1_1base_1_1GoalPtr.html" title="A boost shared pointer wrapper for ompl::base::Goal.">GoalPtr</a>              <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a3bdc61f288bbf3f1dece9a275cd2c113" title="The goal representation.">goal_</a>;
<a name="l00215"></a>00215 
<a name="l00217"></a><a class="code" href="classompl_1_1base_1_1ProblemDefinition.html#a524008c227869a4feb3b562bcfe97147">00217</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_1base_1_1ProblemDefinition.html#a524008c227869a4feb3b562bcfe97147" title="Interface for console output.">msg_</a>;
<a name="l00218"></a>00218         };
<a name="l00219"></a>00219     }
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221 
<a name="l00222"></a>00222 <span class="preprocessor">#endif</span>
</pre></div></div>
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