00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Rice University 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 Rice University 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_CONTROL_PATH_CONTROL_ 00038 #define OMPL_CONTROL_PATH_CONTROL_ 00039 00040 #include "ompl/control/SpaceInformation.h" 00041 #include "ompl/base/Path.h" 00042 #include "ompl/geometric/PathGeometric.h" 00043 #include <vector> 00044 00045 namespace ompl 00046 { 00047 namespace control 00048 { 00049 00054 class PathControl : public base::Path 00055 { 00056 public: 00057 00059 PathControl(const base::SpaceInformationPtr &si); 00060 00062 PathControl(const PathControl &path); 00063 00064 virtual ~PathControl(void) 00065 { 00066 freeMemory(); 00067 } 00068 00070 PathControl& operator=(const PathControl& other); 00071 00073 virtual double length(void) const; 00074 00076 virtual bool check(void) const; 00077 00079 virtual void print(std::ostream &out) const; 00080 00082 geometric::PathGeometric asGeometric(void) const; 00083 00089 void append(const base::State *state); 00090 00093 void append(const base::State *state, const Control *control, double duration); 00094 00096 void interpolate(void); 00097 00099 void random(void); 00100 00102 bool randomValid(unsigned int attempts); 00103 00110 std::vector<base::State*>& getStates(void) 00111 { 00112 return states_; 00113 } 00114 00116 std::vector<Control*>& getControls(void) 00117 { 00118 return controls_; 00119 } 00120 00122 std::vector<double>& getControlDurations(void) 00123 { 00124 return controlDurations_; 00125 } 00126 00128 base::State* getState(unsigned int index) 00129 { 00130 return states_[index]; 00131 } 00132 00134 const base::State* getState(unsigned int index) const 00135 { 00136 return states_[index]; 00137 } 00138 00140 Control* getControl(unsigned int index) 00141 { 00142 return controls_[index]; 00143 } 00144 00146 const Control* getControl(unsigned int index) const 00147 { 00148 return controls_[index]; 00149 } 00150 00152 double getControlDuration(unsigned int index) const 00153 { 00154 return controlDurations_[index]; 00155 } 00156 00158 std::size_t getStateCount(void) const 00159 { 00160 return states_.size(); 00161 } 00162 00164 std::size_t getControlCount(void) const 00165 { 00166 return controls_.size(); 00167 } 00168 00171 protected: 00172 00174 std::vector<base::State*> states_; 00175 00177 std::vector<Control*> controls_; 00178 00180 std::vector<double> controlDurations_; 00181 00183 void freeMemory(void); 00184 00186 void copyFrom(const PathControl& other); 00187 00188 }; 00189 00190 } 00191 } 00192 00193 #endif