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OpenDESimpleSetup.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_EXTENSION_OPENDE_SIMPLE_SETUP_
38 #define OMPL_EXTENSION_OPENDE_SIMPLE_SETUP_
39 
40 #include "ompl/control/SimpleSetup.h"
41 #include "ompl/extensions/opende/OpenDEStateValidityChecker.h"
42 #include "ompl/extensions/opende/OpenDEStatePropagator.h"
43 #include "ompl/extensions/opende/OpenDEControlSpace.h"
44 
45 namespace ompl
46 {
47 
48  namespace control
49  {
50 
54  {
55  public:
56 
58  explicit
59  OpenDESimpleSetup(const ControlSpacePtr &space);
60 
62  explicit
64 
69  explicit
71 
72  virtual ~OpenDESimpleSetup(void)
73  {
74  }
75 
78  {
80  }
81 
84 
86  void setCurrentState(const base::ScopedState<> &state);
87 
89  void setCurrentState(const base::State *state);
90 
93  {
95  }
96 
99  {
101  }
102 
105  {
107  }
108 
113  void playPath(const base::PathPtr &path, double timeFactor = 1.0) const;
114 
116  void playSolutionPath(double timeFactor = 1.0) const;
117 
120  base::PathPtr simulateControl(const double* control, unsigned int steps) const;
121 
124  base::PathPtr simulateControl(const Control* control, unsigned int steps) const;
125 
130  base::PathPtr simulate(unsigned int steps) const;
131 
132  virtual void setup(void);
133 
134  private:
135 
136  void useEnvParams(void);
137 
138  };
139  }
140 
141 }
142 #endif