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

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<title>OMPL: demos/RigidBodyPlanningWithIntegrationAndControls.cpp Source File</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
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<div class="title">RigidBodyPlanningWithIntegrationAndControls.cpp</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) 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">#include &lt;ompl/control/SpaceInformation.h&gt;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &lt;ompl/base/GoalState.h&gt;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &lt;ompl/base/spaces/SE2StateSpace.h&gt;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;ompl/control/spaces/RealVectorControlSpace.h&gt;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;ompl/control/planners/kpiece/KPIECE1.h&gt;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;ompl/control/planners/rrt/RRT.h&gt;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;ompl/control/SimpleSetup.h&gt;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;ompl/config.h&gt;</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include &lt;valarray&gt;</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include &lt;limits&gt;</span>
<a name="l00048"></a>00048 
<a name="l00049"></a>00049 <span class="keyword">namespace </span>ob = ompl::base;
<a name="l00050"></a>00050 <span class="keyword">namespace </span>oc = ompl::control;
<a name="l00051"></a>00051 
<a name="l00052"></a>00052 
<a name="l00054"></a>00054 <span class="keyword">class </span>KinematicCarModel
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keyword">public</span>:
<a name="l00057"></a>00057 
<a name="l00058"></a>00058     KinematicCarModel(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ob::StateSpace</a> *space) : space_(space), carLength_(0.2)
<a name="l00059"></a>00059     {
<a name="l00060"></a>00060     }
<a name="l00061"></a>00061 
<a name="l00063"></a>00063     <span class="keywordtype">void</span> operator()(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">oc::Control</a> *control, std::valarray&lt;double&gt; &amp;dstate)<span class="keyword"> const</span>
<a name="l00064"></a>00064 <span class="keyword">    </span>{
<a name="l00065"></a>00065         <span class="keyword">const</span> <span class="keywordtype">double</span> *u = control-&gt;<a class="code" href="classompl_1_1control_1_1Control.html#a53552cde1fbdd3fcdcfe8ed1f96579c8" title="Cast this instance to a desired type.">as</a>&lt;oc::RealVectorControlSpace::ControlType&gt;()-&gt;values;
<a name="l00066"></a>00066         <span class="keyword">const</span> <span class="keywordtype">double</span> theta = state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a>&gt;()-&gt;getYaw();
<a name="l00067"></a>00067 
<a name="l00068"></a>00068         dstate.resize(3);
<a name="l00069"></a>00069         dstate[0] = u[0] * cos(theta);
<a name="l00070"></a>00070         dstate[1] = u[0] * sin(theta);
<a name="l00071"></a>00071         dstate[2] = u[0] * tan(u[1]) / carLength_;
<a name="l00072"></a>00072     }
<a name="l00073"></a>00073 
<a name="l00075"></a>00075     <span class="keywordtype">void</span> update(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *state, <span class="keyword">const</span> std::valarray&lt;double&gt; &amp;dstate)<span class="keyword"> const</span>
<a name="l00076"></a>00076 <span class="keyword">    </span>{
<a name="l00077"></a>00077         <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a> &amp;s = *state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a>&gt;();
<a name="l00078"></a>00078         s.setX(s.getX() + dstate[0]);
<a name="l00079"></a>00079         s.setY(s.getY() + dstate[1]);
<a name="l00080"></a>00080         s.setYaw(s.getYaw() + dstate[2]);
<a name="l00081"></a>00081         space_-&gt;enforceBounds(state);
<a name="l00082"></a>00082     }
<a name="l00083"></a>00083 
<a name="l00084"></a>00084 <span class="keyword">private</span>:
<a name="l00085"></a>00085 
<a name="l00086"></a>00086     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ob::StateSpace</a> *space_;
<a name="l00087"></a>00087     <span class="keyword">const</span> <span class="keywordtype">double</span>             carLength_;
<a name="l00088"></a>00088 
<a name="l00089"></a>00089 };
<a name="l00090"></a>00090 
<a name="l00091"></a>00091 
<a name="l00093"></a>00093 <span class="keyword">template</span>&lt;<span class="keyword">typename</span> F&gt;
<a name="l00094"></a>00094 <span class="keyword">class </span>EulerIntegrator
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096 <span class="keyword">public</span>:
<a name="l00097"></a>00097 
<a name="l00098"></a>00098     EulerIntegrator(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ob::StateSpace</a> *space, <span class="keywordtype">double</span> timeStep) : space_(space), timeStep_(timeStep), ode_(space)
<a name="l00099"></a>00099     {
<a name="l00100"></a>00100     }
<a name="l00101"></a>00101 
<a name="l00102"></a>00102     <span class="keywordtype">void</span> propagate(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *start, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">oc::Control</a> *control, <span class="keyword">const</span> <span class="keywordtype">double</span> duration, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *result)<span class="keyword"> const</span>
<a name="l00103"></a>00103 <span class="keyword">    </span>{
<a name="l00104"></a>00104         <span class="keywordtype">double</span> t = timeStep_;
<a name="l00105"></a>00105         std::valarray&lt;double&gt; dstate;
<a name="l00106"></a>00106         space_-&gt;copyState(result, start);
<a name="l00107"></a>00107         <span class="keywordflow">while</span> (t &lt; duration + std::numeric_limits&lt;double&gt;::epsilon())
<a name="l00108"></a>00108         {
<a name="l00109"></a>00109             ode_(result, control, dstate);
<a name="l00110"></a>00110             ode_.update(result, timeStep_ * dstate);
<a name="l00111"></a>00111             t += timeStep_;
<a name="l00112"></a>00112         }
<a name="l00113"></a>00113         <span class="keywordflow">if</span> (t + std::numeric_limits&lt;double&gt;::epsilon() &gt; duration)
<a name="l00114"></a>00114         {
<a name="l00115"></a>00115             ode_(result, control, dstate);
<a name="l00116"></a>00116             ode_.update(result, (t - duration) * dstate);
<a name="l00117"></a>00117         }
<a name="l00118"></a>00118     }
<a name="l00119"></a>00119 
<a name="l00120"></a>00120     <span class="keywordtype">double</span> getTimeStep(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00121"></a>00121 <span class="keyword">    </span>{
<a name="l00122"></a>00122         <span class="keywordflow">return</span> timeStep_;
<a name="l00123"></a>00123     }
<a name="l00124"></a>00124 
<a name="l00125"></a>00125     <span class="keywordtype">void</span> setTimeStep(<span class="keywordtype">double</span> timeStep)
<a name="l00126"></a>00126     {
<a name="l00127"></a>00127         timeStep_ = timeStep;
<a name="l00128"></a>00128     }
<a name="l00129"></a>00129 
<a name="l00130"></a>00130 <span class="keyword">private</span>:
<a name="l00131"></a>00131 
<a name="l00132"></a>00132     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ob::StateSpace</a> *space_;
<a name="l00133"></a>00133     <span class="keywordtype">double</span>                   timeStep_;
<a name="l00134"></a>00134     F                        ode_;
<a name="l00135"></a>00135 };
<a name="l00136"></a>00136 
<a name="l00137"></a>00137 
<a name="l00138"></a>00138 <span class="keywordtype">bool</span> isStateValid(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">oc::SpaceInformation</a> *si, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *state)
<a name="l00139"></a>00139 {
<a name="l00140"></a>00140     <span class="comment">//    ob::ScopedState&lt;ob::SE2StateSpace&gt;</span>
<a name="l00142"></a>00142 <span class="comment"></span>    <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a> *se2state = state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a>&gt;();
<a name="l00143"></a>00143 
<a name="l00145"></a>00145     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a> *pos = se2state-&gt;as&lt;<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a>&gt;(0);
<a name="l00146"></a>00146 
<a name="l00148"></a>00148     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO2StateSpace::StateType</a> *rot = se2state-&gt;as&lt;<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO2StateSpace::StateType</a>&gt;(1);
<a name="l00149"></a>00149 
<a name="l00151"></a>00151 
<a name="l00152"></a>00152 
<a name="l00153"></a>00153     <span class="comment">// return a value that is always true but uses the two variables we define, so we avoid compiler warnings</span>
<a name="l00154"></a>00154     <span class="keywordflow">return</span> si-&gt;<a class="code" href="classompl_1_1base_1_1SpaceInformation.html#ad76b863efa604add17cae43b4ebcb0b9" title="Check if a state is inside the bounding box.">satisfiesBounds</a>(state) &amp;&amp; (<span class="keywordtype">void</span>*)rot != (<span class="keywordtype">void</span>*)pos;
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156 
<a name="l00158"></a>00158 <span class="keyword">class </span>DemoControlSpace : <span class="keyword">public</span> oc::RealVectorControlSpace
<a name="l00159"></a>00159 {
<a name="l00160"></a>00160 <span class="keyword">public</span>:
<a name="l00161"></a>00161 
<a name="l00162"></a>00162     DemoControlSpace(<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.">ob::StateSpacePtr</a> &amp;stateSpace) : oc::RealVectorControlSpace(stateSpace, 2)
<a name="l00163"></a>00163     {
<a name="l00164"></a>00164     }
<a name="l00165"></a>00165 };
<a name="l00166"></a>00166 
<a name="l00167"></a>00167 <span class="keyword">class </span>DemoStatePropagator : <span class="keyword">public</span> oc::StatePropagator
<a name="l00168"></a>00168 {
<a name="l00169"></a>00169 <span class="keyword">public</span>:
<a name="l00170"></a>00170 
<a name="l00171"></a>00171     DemoStatePropagator(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::control::SpaceInformation.">oc::SpaceInformationPtr</a> &amp;si) : oc::StatePropagator(si),
<a name="l00172"></a>00172                                                              integrator_(si-&gt;getStateSpace().get(), 0.0)
<a name="l00173"></a>00173     {
<a name="l00174"></a>00174     }
<a name="l00175"></a>00175 
<a name="l00176"></a>00176     <span class="keyword">virtual</span> <span class="keywordtype">void</span> propagate(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">oc::Control</a>* control, <span class="keyword">const</span> <span class="keywordtype">double</span> duration, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *result)<span class="keyword"> const</span>
<a name="l00177"></a>00177 <span class="keyword">    </span>{
<a name="l00178"></a>00178         integrator_.propagate(state, control, duration, result);
<a name="l00179"></a>00179     }
<a name="l00180"></a>00180 
<a name="l00181"></a>00181     <span class="keywordtype">void</span> setIntegrationTimeStep(<span class="keywordtype">double</span> timeStep)
<a name="l00182"></a>00182     {
<a name="l00183"></a>00183         integrator_.setTimeStep(timeStep);
<a name="l00184"></a>00184     }
<a name="l00185"></a>00185 
<a name="l00186"></a>00186     <span class="keywordtype">double</span> getIntegrationTimeStep(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00187"></a>00187 <span class="keyword">    </span>{
<a name="l00188"></a>00188         <span class="keywordflow">return</span> integrator_.getTimeStep();
<a name="l00189"></a>00189     }
<a name="l00190"></a>00190 
<a name="l00191"></a>00191     EulerIntegrator&lt;KinematicCarModel&gt; integrator_;
<a name="l00192"></a>00192 };
<a name="l00193"></a>00193 
<a name="l00195"></a>00195 
<a name="l00196"></a>00196 <span class="keywordtype">void</span> planWithSimpleSetup(<span class="keywordtype">void</span>)
<a name="l00197"></a>00197 {
<a name="l00199"></a>00199     <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ob::StateSpacePtr</a> space(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">ob::SE2StateSpace</a>());
<a name="l00200"></a>00200 
<a name="l00202"></a>00202     <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> bounds(2);
<a name="l00203"></a>00203     bounds.setLow(-1);
<a name="l00204"></a>00204     bounds.setHigh(1);
<a name="l00205"></a>00205 
<a name="l00206"></a>00206     space-&gt;as&lt;<a class="code" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">ob::SE2StateSpace</a>&gt;()-&gt;setBounds(bounds);
<a name="l00207"></a>00207 
<a name="l00208"></a>00208     <span class="comment">// create a control space</span>
<a name="l00209"></a>00209     <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">oc::ControlSpacePtr</a> cspace(<span class="keyword">new</span> DemoControlSpace(space));
<a name="l00210"></a>00210 
<a name="l00211"></a>00211     <span class="comment">// set the bounds for the control space</span>
<a name="l00212"></a>00212     <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> cbounds(2);
<a name="l00213"></a>00213     cbounds.setLow(-0.3);
<a name="l00214"></a>00214     cbounds.setHigh(0.3);
<a name="l00215"></a>00215 
<a name="l00216"></a>00216     cspace-&gt;as&lt;DemoControlSpace&gt;()-&gt;setBounds(cbounds);
<a name="l00217"></a>00217 
<a name="l00218"></a>00218     <span class="comment">// define a simple setup class</span>
<a name="l00219"></a>00219     <a class="code" href="classompl_1_1control_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a control problem.">oc::SimpleSetup</a> ss(cspace);
<a name="l00220"></a>00220 
<a name="l00222"></a>00222     ss.setStateValidityChecker(boost::bind(&amp;isStateValid, ss.getSpaceInformation().get(), _1));
<a name="l00223"></a>00223 
<a name="l00225"></a>00225     ss.setStatePropagator(oc::StatePropagatorPtr(<span class="keyword">new</span> DemoStatePropagator(ss.getSpaceInformation())));
<a name="l00226"></a>00226 
<a name="l00228"></a>00228     <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState&lt;ob::SE2StateSpace&gt;</a> start(space);
<a name="l00229"></a>00229     start-&gt;setX(-0.5);
<a name="l00230"></a>00230     start-&gt;setY(0.0);
<a name="l00231"></a>00231     start-&gt;setYaw(0.0);
<a name="l00232"></a>00232 
<a name="l00234"></a>00234     <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState&lt;ob::SE2StateSpace&gt;</a> goal(space);
<a name="l00235"></a>00235     goal-&gt;setX(0.0);
<a name="l00236"></a>00236     goal-&gt;setY(0.5);
<a name="l00237"></a>00237     goal-&gt;setYaw(0.0);
<a name="l00238"></a>00238 
<a name="l00240"></a>00240     ss.setStartAndGoalStates(start, goal, 0.05);
<a name="l00241"></a>00241 
<a name="l00243"></a>00243     ss.setup();
<a name="l00244"></a>00244     <span class="keyword">static_cast&lt;</span>DemoStatePropagator*<span class="keyword">&gt;</span>(ss.getStatePropagator().get())-&gt;setIntegrationTimeStep(ss.getSpaceInformation()-&gt;getPropagationStepSize());
<a name="l00245"></a>00245 
<a name="l00247"></a>00247     <span class="keywordtype">bool</span> solved = ss.solve(10.0);
<a name="l00248"></a>00248 
<a name="l00249"></a>00249     <span class="keywordflow">if</span> (solved)
<a name="l00250"></a>00250     {
<a name="l00251"></a>00251         std::cout &lt;&lt; <span class="stringliteral">&quot;Found solution:&quot;</span> &lt;&lt; std::endl;
<a name="l00253"></a>00253 
<a name="l00254"></a>00254         ss.getSolutionPath().asGeometric().print(std::cout);
<a name="l00255"></a>00255     }
<a name="l00256"></a>00256     <span class="keywordflow">else</span>
<a name="l00257"></a>00257         std::cout &lt;&lt; <span class="stringliteral">&quot;No solution found&quot;</span> &lt;&lt; std::endl;
<a name="l00258"></a>00258 }
<a name="l00259"></a>00259 
<a name="l00260"></a>00260 <span class="keywordtype">int</span> main(<span class="keywordtype">int</span>, <span class="keywordtype">char</span> **)
<a name="l00261"></a>00261 {
<a name="l00262"></a>00262     std::cout &lt;&lt; <span class="stringliteral">&quot;OMPL version: &quot;</span> &lt;&lt; OMPL_VERSION &lt;&lt; std::endl;
<a name="l00263"></a>00263 
<a name="l00264"></a>00264     planWithSimpleSetup();
<a name="l00265"></a>00265 
<a name="l00266"></a>00266     <span class="keywordflow">return</span> 0;
<a name="l00267"></a>00267 }
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