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PathGeometric.h
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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> &times, 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
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