00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_ 00038 #define OMPL_GEOMETRIC_PATH_GEOMETRIC_ 00039 00040 #include "ompl/base/SpaceInformation.h" 00041 #include "ompl/base/Path.h" 00042 #include <vector> 00043 #include <utility> 00044 00045 namespace ompl 00046 { 00047 00049 namespace geometric 00050 { 00051 00055 class PathGeometric : public base::Path 00056 { 00057 public: 00058 00060 PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si) 00061 { 00062 } 00063 00065 PathGeometric(const PathGeometric &path); 00066 00068 PathGeometric(const base::SpaceInformationPtr &si, const base::State *state); 00069 00071 PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2); 00072 00073 virtual ~PathGeometric(void) 00074 { 00075 freeMemory(); 00076 } 00077 00079 PathGeometric& operator=(const PathGeometric& other); 00080 00081 00083 virtual double length(void) const; 00084 00086 virtual bool check(void) const; 00087 00101 double smoothness(void) const; 00102 00114 double clearance(void) const; 00115 00117 virtual void print(std::ostream &out) const; 00118 00119 00128 void interpolate(unsigned int count); 00129 00134 void interpolate(void); 00135 00137 void subdivide(void); 00138 00140 void reverse(void); 00141 00152 std::pair<bool, bool> checkAndRepair(unsigned int attempts); 00153 00164 void overlay(const PathGeometric &over, unsigned int startIndex = 0); 00165 00167 void append(const base::State *state); 00168 00180 void append(const PathGeometric &path); 00181 00183 void keepAfter(const base::State *state); 00184 00186 void keepBefore(const base::State *state); 00187 00189 void random(void); 00190 00192 bool randomValid(unsigned int attempts); 00204 void computeFastTimeParametrization(double maxVel, double maxAcc, std::vector<double> ×, unsigned int maxSteps = 10) const; 00205 00206 00211 int getClosestIndex(const base::State *state) const; 00212 00214 std::vector<base::State*>& getStates(void) 00215 { 00216 return states_; 00217 } 00218 00220 base::State* getState(unsigned int index) 00221 { 00222 return states_[index]; 00223 } 00224 00226 const base::State* getState(unsigned int index) const 00227 { 00228 return states_[index]; 00229 } 00230 00232 std::size_t getStateCount(void) const 00233 { 00234 return states_.size(); 00235 } 00236 00239 protected: 00240 00242 void freeMemory(void); 00243 00245 void copyFrom(const PathGeometric& other); 00246 00248 std::vector<base::State*> states_; 00249 }; 00250 00251 } 00252 } 00253 00254 #endif