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_EXTENSION_ODE_SIMPLE_SETUP_ 00038 #define OMPL_EXTENSION_ODE_SIMPLE_SETUP_ 00039 00040 #include "ompl/control/SimpleSetup.h" 00041 #include "ompl/extensions/ode/ODEStateValidityChecker.h" 00042 #include "ompl/extensions/ode/ODEStatePropagator.h" 00043 #include "ompl/extensions/ode/ODEControlSpace.h" 00044 00045 namespace ompl 00046 { 00047 00048 namespace control 00049 { 00050 00053 class ODESimpleSetup : public SimpleSetup 00054 { 00055 public: 00056 00058 explicit 00059 ODESimpleSetup(const ControlSpacePtr &space); 00060 00062 explicit 00063 ODESimpleSetup(const base::StateSpacePtr &space); 00064 00069 explicit 00070 ODESimpleSetup(const ODEEnvironmentPtr &env); 00071 00072 virtual ~ODESimpleSetup(void) 00073 { 00074 } 00075 00077 const ODEEnvironmentPtr& getEnvironment(void) const 00078 { 00079 return getStateSpace()->as<ODEStateSpace>()->getEnvironment(); 00080 } 00081 00083 base::ScopedState<ODEStateSpace> getCurrentState(void) const; 00084 00086 void setCurrentState(const base::ScopedState<> &state); 00087 00089 void setCurrentState(const base::State *state); 00090 00092 void setVolumeBounds(const base::RealVectorBounds &bounds) 00093 { 00094 getStateSpace()->as<ODEStateSpace>()->setVolumeBounds(bounds); 00095 } 00096 00098 void setLinearVelocityBounds(const base::RealVectorBounds &bounds) 00099 { 00100 getStateSpace()->as<ODEStateSpace>()->setLinearVelocityBounds(bounds); 00101 } 00102 00104 void setAngularVelocityBounds(const base::RealVectorBounds &bounds) 00105 { 00106 getStateSpace()->as<ODEStateSpace>()->setAngularVelocityBounds(bounds); 00107 } 00108 00113 void playPath(const base::PathPtr &path, double timeFactor = 1.0) const; 00114 00116 void playSolutionPath(double timeFactor = 1.0) const; 00117 00120 base::PathPtr simulateControl(const double* control, unsigned int steps) const; 00121 00124 base::PathPtr simulateControl(const Control* control, unsigned int steps) const; 00125 00130 base::PathPtr simulate(unsigned int steps) const; 00131 00132 virtual void setup(void); 00133 00134 private: 00135 00136 void useEnvParams(void); 00137 00138 }; 00139 } 00140 00141 } 00142 #endif