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PathGeometric.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
38#define OMPL_GEOMETRIC_PATH_GEOMETRIC_
39
40#include "ompl/base/SpaceInformation.h"
41#include "ompl/base/Path.h"
42#include <vector>
43#include <utility>
44
45namespace ompl
46{
47 namespace base
48 {
50 OMPL_CLASS_FORWARD(OptimizationObjective);
52 }
53
55 namespace geometric
56 {
58
59 OMPL_CLASS_FORWARD(PathGeometric);
61
66 {
67 public:
69 PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
70 {
71 }
72
74 PathGeometric(const PathGeometric &path);
75
77 PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
78
80 PathGeometric(const base::SpaceInformationPtr &si,
81 const base::State *state1, const base::State *state2);
82
84 PathGeometric(const base::SpaceInformationPtr &si,
85 std::vector<const base::State *> &states);
86
87 ~PathGeometric() override
88 {
89 freeMemory();
90 }
91
94
100 base::Cost cost(const base::OptimizationObjectivePtr &obj) const override;
101
103 double length() const override;
104
106 bool check() const override;
107
126 double smoothness() const;
127
140 double clearance() const;
141
143 void print(std::ostream &out) const override;
144
149 virtual void printAsMatrix(std::ostream &out) const;
150
159 void interpolate(unsigned int count);
160
165 void interpolate();
166
168 void subdivide();
169
171 void reverse();
172
184 std::pair<bool, bool> checkAndRepair(unsigned int attempts);
185
196 void overlay(const PathGeometric &over, unsigned int startIndex = 0);
197
199 void append(const base::State *state);
200
212 void append(const PathGeometric &path);
213
215 void prepend(const base::State *state);
216
219 void keepAfter(const base::State *state);
220
223 void keepBefore(const base::State *state);
224
226 void random();
227
230 bool randomValid(unsigned int attempts);
238 int getClosestIndex(const base::State *state) const;
239
242 std::vector<base::State *> &getStates()
243 {
244 return states_;
245 }
246
248 base::State *getState(unsigned int index)
249 {
250 return states_[index];
251 }
252
254 const base::State *getState(unsigned int index) const
255 {
256 return states_[index];
257 }
258
260 std::size_t getStateCount() const
261 {
262 return states_.size();
263 }
264
266 void clear();
267
270 protected:
272 void freeMemory();
273
275 void copyFrom(const PathGeometric &other);
276
278 std::vector<base::State *> states_;
279 };
280 }
281}
282
283#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 a geometric path.
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
double smoothness() const
Compute a notion of smoothness for this path. The closer the value is to 0, the smoother the path....
bool randomValid(unsigned int attempts)
Set this path to a random valid segment. Sample attempts times for valid segments....
bool check() const override
Check if the path is valid.
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
double clearance() const
Compute the clearance of the way-points along the path (no interpolation is performed)....
void print(std::ostream &out) const override
Print the path to a stream.
std::pair< bool, bool > checkAndRepair(unsigned int attempts)
Check if the path is valid. If it is not, attempts are made to fix the path by sampling around invali...
void keepAfter(const base::State *state)
Keep the part of the path that is after state (getClosestIndex() is used to find out which way-point ...
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....
void freeMemory()
Free the memory corresponding to the states on this path.
PathGeometric & operator=(const PathGeometric &other)
Assignment operator.
void prepend(const base::State *state)
Prepend state to the start of this path. The memory for state is copied.
void clear()
Remove all states and clear memory.
void subdivide()
Add a state at the middle of each segment.
void random()
Set this path to a random segment.
void reverse()
Reverse the path.
void keepBefore(const base::State *state)
Keep the part of the path that is before state (getClosestIndex() is used to find out which way-point...
void copyFrom(const PathGeometric &other)
Copy data to this path from another path instance.
void interpolate()
Insert a number of states in a path so that the path is made up of (approximately) the states checked...
double length() const override
Compute the length of a geometric path (sum of lengths of segments that make up the path)
base::State * getState(unsigned int index)
Get the state located at index along the path.
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
base::Cost cost(const base::OptimizationObjectivePtr &obj) const override
The sum of the costs for the sequence of segments that make up the path, computed using OptimizationO...
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
std::vector< base::State * > states_
The list of states that make up the path.
int getClosestIndex(const base::State *state) const
Get the index of the way-point along the path that is closest to state. Returns -1 for an empty path.
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...
void overlay(const PathGeometric &over, unsigned int startIndex=0)
Overlay the path over on top of the current path. States are added to the current path if needed (by ...
Main namespace. Contains everything in this library.