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PathControl.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_CONTROL_PATH_CONTROL_
38#define OMPL_CONTROL_PATH_CONTROL_
39
40#include "ompl/control/SpaceInformation.h"
41#include "ompl/base/Path.h"
42#include "ompl/geometric/PathGeometric.h"
43#include <vector>
44
45namespace ompl
46{
47 namespace base
48 {
50 OMPL_CLASS_FORWARD(OptimizationObjective);
52 }
53
54 namespace control
55 {
60 class PathControl : public base::Path
61 {
62 public:
64 PathControl(const base::SpaceInformationPtr &si);
65
67 PathControl(const PathControl &path);
68
69 ~PathControl() override
70 {
71 freeMemory();
72 }
73
75 PathControl &operator=(const PathControl &other);
76
78 base::Cost cost(const base::OptimizationObjectivePtr &opt) const override;
79
81 double length() const override;
82
84 bool check() const override;
85
87 void print(std::ostream &out) const override;
97 virtual void printAsMatrix(std::ostream &out) const;
98
102
110 void append(const base::State *state);
111
116 void append(const base::State *state, const Control *control, double duration);
117
120 void interpolate();
121
123 void random();
124
127 bool randomValid(unsigned int attempts);
128
136 std::vector<base::State *> &getStates()
137 {
138 return states_;
139 }
140
143 std::vector<Control *> &getControls()
144 {
145 return controls_;
146 }
147
150 std::vector<double> &getControlDurations()
151 {
152 return controlDurations_;
153 }
154
156 base::State *getState(unsigned int index)
157 {
158 return states_[index];
159 }
160
162 const base::State *getState(unsigned int index) const
163 {
164 return states_[index];
165 }
166
169 Control *getControl(unsigned int index)
170 {
171 return controls_[index];
172 }
173
176 const Control *getControl(unsigned int index) const
177 {
178 return controls_[index];
179 }
180
182 double getControlDuration(unsigned int index) const
183 {
184 return controlDurations_[index];
185 }
186
188 std::size_t getStateCount() const
189 {
190 return states_.size();
191 }
192
195 std::size_t getControlCount() const
196 {
197 return controls_.size();
198 }
199
202 protected:
204 std::vector<base::State *> states_;
205
208 std::vector<Control *> controls_;
209
212 std::vector<double> controlDurations_;
213
215 void freeMemory();
216
218 void copyFrom(const PathControl &other);
219 };
220 }
221}
222
223#endif
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Abstract definition of a path.
Definition: Path.h:68
Definition of an abstract state.
Definition: State.h:50
Definition of an abstract control.
Definition: Control.h:48
Definition of a control path.
Definition: PathControl.h:61
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
Definition: PathControl.h:162
double getControlDuration(unsigned int index) const
Get the duration of the control at index, which gets applied to the state at index.
Definition: PathControl.h:182
void print(std::ostream &out) const override
Print the path to a stream.
std::vector< base::State * > & getStates()
Get the states that make up the path (as a reference, so it can be modified, hence the function is no...
Definition: PathControl.h:136
bool check() const override
Check if the path is valid.
base::Cost cost(const base::OptimizationObjectivePtr &opt) const override
Not yet implemented.
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition: PathControl.h:156
std::vector< double > & getControlDurations()
Get the control durations used along the path (as a reference, so it can be modified,...
Definition: PathControl.h:150
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition: PathControl.h:188
bool randomValid(unsigned int attempts)
Set this path to a random valid segment. Sample attempts times for valid segments....
void append(const base::State *state)
Append state to the end of the path; it is assumed state is the first state, so no control is applied...
void random()
Set this path to a random segment.
PathControl & operator=(const PathControl &other)
Assignment operator.
void copyFrom(const PathControl &other)
Copy the content of a path to this one.
double length() const override
The path length (sum of control durations)
virtual void printAsMatrix(std::ostream &out) const
Print the path as a real-valued matrix where the i-th row represents the i-th state along the path,...
std::vector< double > controlDurations_
The duration of the control applied at each state. This array contains one element less than the list...
Definition: PathControl.h:212
void freeMemory()
Free the memory allocated by the path.
const Control * getControl(unsigned int index) const
Get the control located at index along the path. This is the control that gets applied to the state l...
Definition: PathControl.h:176
Control * getControl(unsigned int index)
Get the control located at index along the path. This is the control that gets applied to the state l...
Definition: PathControl.h:169
std::size_t getControlCount() const
Get the number of controls applied along this path. This should be equal to getStateCount() - 1 unles...
Definition: PathControl.h:195
std::vector< Control * > & getControls()
Get the controls that make up the path (as a reference, so it can be modified, hence the function is ...
Definition: PathControl.h:143
std::vector< base::State * > states_
The list of states that make up the path.
Definition: PathControl.h:204
std::vector< Control * > controls_
The control applied at each state. This array contains one element less than the list of states.
Definition: PathControl.h:208
geometric::PathGeometric asGeometric() const
Convert this path into a geometric path (interpolation is performed and then states are copied)
Definition: PathControl.cpp:91
void interpolate()
Make the path such that all controls are applied for a single time step (computes intermediate states...
Definition of a geometric path.
Definition: PathGeometric.h:66
Main namespace. Contains everything in this library.