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/* Author: Ioan Sucan */
#ifndef OMPL_GEOMETRIC_SIMPLE_SETUP_
#define OMPL_GEOMETRIC_SIMPLE_SETUP_
#include "ompl/base/Planner.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/util/Console.h"
#include "ompl/util/Exception.h"
namespace ompl
{
namespace geometric
{
/// @cond IGNORE
OMPL_CLASS_FORWARD(SimpleSetup);
/// @endcond
/** \class ompl::geometric::SimpleSetupPtr
\brief A boost shared pointer wrapper for ompl::geometric::SimpleSetup */
/** \brief Create the set of classes typically needed to solve a
geometric problem */
class SimpleSetup
{
public:
/** \brief Constructor needs the state space used for planning. */
explicit
SimpleSetup(const base::StateSpacePtr &space);
virtual ~SimpleSetup(void)
{
}
/** \brief Get the current instance of the space information */
const base::SpaceInformationPtr& getSpaceInformation(void) const
{
return si_;
}
/** \brief Get the current instance of the problem definition */
const base::ProblemDefinitionPtr& getProblemDefinition(void) const
{
return pdef_;
}
/** \brief Get the current instance of the state space */
const base::StateSpacePtr& getStateSpace(void) const
{
return si_->getStateSpace();
}
/** \brief Get the current instance of the state validity checker */
const base::StateValidityCheckerPtr& getStateValidityChecker(void) const
{
return si_->getStateValidityChecker();
}
/** \brief Get the current goal definition */
const base::GoalPtr& getGoal(void) const
{
return pdef_->getGoal();
}
/** \brief Get the current planner */
const base::PlannerPtr& getPlanner(void) const
{
return planner_;
}
/** \brief Get the planner allocator */
const base::PlannerAllocator& getPlannerAllocator(void) const
{
return pa_;
}
/** \brief Get the path simplifier */
const PathSimplifierPtr& getPathSimplifier(void) const
{
return psk_;
}
/** \brief Get the path simplifier */
PathSimplifierPtr& getPathSimplifier(void)
{
return psk_;
}
/** \brief Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate) */
bool haveExactSolutionPath(void) const;
/** \brief Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate. */
bool haveSolutionPath(void) const
{
return pdef_->getSolutionPath().get();
}
/** \brief Get the solution path. Throw an exception if no solution is available */
PathGeometric& getSolutionPath(void) const;
/** \brief Get information about the exploration data structure the motion planner used. */
void getPlannerData(base::PlannerData &pd) const;
/** \brief Set the state validity checker to use */
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
{
si_->setStateValidityChecker(svc);
}
/** \brief Set the state validity checker to use */
void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
{
si_->setStateValidityChecker(svc);
}
/** \brief Set the start and goal states to use. */
void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal,
const double threshold = std::numeric_limits<double>::epsilon())
{
pdef_->setStartAndGoalStates(start, goal, threshold);
}
/** \brief Add a starting state for planning. This call is not
needed if setStartAndGoalStates() has been called. */
void addStartState(const base::ScopedState<> &state)
{
pdef_->addStartState(state);
}
/** \brief Clear the currently set starting states */
void clearStartStates(void)
{
pdef_->clearStartStates();
}
/** \brief Clear the currently set starting states and add \e state as the starting state */
void setStartState(const base::ScopedState<> &state)
{
clearStartStates();
addStartState(state);
}
/** \brief A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState */
void setGoalState(const base::ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
{
pdef_->setGoalState(goal, threshold);
}
/** \brief Set the goal for planning. This call is not
needed if setStartAndGoalStates() has been called. */
void setGoal(const base::GoalPtr &goal)
{
pdef_->setGoal(goal);
}
/** \brief Set the planner to use. If the planner is not
set, an attempt is made to use the planner
allocator. If no planner allocator is available
either, a default planner is set. */
void setPlanner(const base::PlannerPtr &planner)
{
if (planner && planner->getSpaceInformation().get() != si_.get())
throw Exception("Planner instance does not match space information");
planner_ = planner;
configured_ = false;
}
/** \brief Set the planner allocator to use. This is only
used if no planner has been set. This is optional -- a default
planner will be used if no planner is otherwise specified. */
void setPlannerAllocator(const base::PlannerAllocator &pa)
{
pa_ = pa;
planner_.reset();
configured_ = false;
}
/** \brief Run the planner for up to a specified amount of time (default is 1 second) */
virtual base::PlannerStatus solve(double time = 1.0);
/** \brief Run the planner until \e ptc becomes true (at most) */
virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
/** \brief Return the status of the last planning attempt */
base::PlannerStatus getLastPlannerStatus(void) const
{
return last_status_;
}
/** \brief Get the amount of time (in seconds) spent during the last planning step */
double getLastPlanComputationTime(void) const
{
return planTime_;
}
/** \brief Get the amount of time (in seconds) spend during the last path simplification step */
double getLastSimplificationTime(void) const
{
return simplifyTime_;
}
/** \brief Attempt to simplify the current solution path. Spent at most \e duration seconds in the simplification process.
If \e duration is 0 (the default), a default simplification procedure is executed. */
void simplifySolution(double duration = 0.0);
/** \brief Attempt to simplify the current solution path. Stop computation when \e ptc becomes true at the latest. */
void simplifySolution(const base::PlannerTerminationCondition &ptc);
/** \brief Clear all planning data. This only includes
data generated by motion plan computation. Planner
settings, start & goal states are not affected. */
virtual void clear(void);
/** \brief Print information about the current setup */
virtual void print(std::ostream &out = std::cout) const;
/** \brief This method will create the necessary classes
for planning. The solve() method will call this
function automatically. */
virtual void setup(void);
/** \brief Get the parameters for this planning context */
base::ParamSet& params(void)
{
return params_;
}
/** \brief Get the parameters for this planning context */
const base::ParamSet& params(void) const
{
return params_;
}
protected:
/// The created space information
base::SpaceInformationPtr si_;
/// The created problem definition
base::ProblemDefinitionPtr pdef_;
/// The maintained planner instance
base::PlannerPtr planner_;
/// The optional planner allocator
base::PlannerAllocator pa_;
/// The instance of the path simplifier
PathSimplifierPtr psk_;
/// Flag indicating whether the classes needed for planning are set up
bool configured_;
/// The amount of time the last planning step took
double planTime_;
/// The amount of time the last path simplification step took
double simplifyTime_;
/// The status of the last planning request
base::PlannerStatus last_status_;
/// The parameters that describe the planning context
base::ParamSet params_;
};
/** \brief Given a goal specification, decide on a planner for that goal */
base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
}
}
#endif
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