00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, 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_TOOLS_SPACES_STATE_SPACE_COLLECTION_ 00038 #define OMPL_TOOLS_SPACES_STATE_SPACE_COLLECTION_ 00039 00040 #include "ompl/base/StateSpace.h" 00041 #include "ompl/util/Console.h" 00042 #include <vector> 00043 #include <string> 00044 00045 namespace ompl 00046 { 00047 00053 class StateSpaceCollection 00054 { 00055 public: 00056 00057 StateSpaceCollection(void) 00058 { 00059 setAutomaticNames("+", "", ""); 00060 } 00061 00062 ~StateSpaceCollection(void) 00063 { 00064 } 00065 00067 const std::string& getName(void) const; 00068 00070 void setName(const std::string &name); 00071 00073 void collect(const base::StateSpacePtr &space); 00074 00076 void collect(const std::vector<base::StateSpacePtr> &spaces); 00077 00079 const base::StateSpacePtr& getSpace(const std::string &name) const; 00080 00082 bool haveSpace(const std::string &name) const; 00083 00085 bool haveSpace(const base::StateSpacePtr &space) const; 00086 00093 const base::StateSpacePtr& combine(const std::vector<base::StateSpacePtr> &components); 00094 00104 const base::StateSpacePtr& combine(const std::vector<base::StateSpacePtr> &components, 00105 const std::vector<bool> &mask); 00106 00116 const base::StateSpacePtr& combine(const std::vector<base::StateSpacePtr> &components, 00117 const std::vector<bool> &mask, const std::vector<double> &weights); 00118 00125 const base::StateSpacePtr& combine(const std::vector<base::StateSpacePtr> &components, 00126 const std::vector<double> &weights); 00127 00132 std::vector<base::StateSpacePtr> allCombinations(const std::vector<base::StateSpacePtr> &components); 00133 00138 std::vector<base::StateSpacePtr> allCombinations(const std::vector<base::StateSpacePtr> &components, const std::vector<double> &weights); 00139 00146 void setAutomaticNames(const std::string &join, const std::string &prefix, const std::string &suffix); 00147 00148 private: 00149 00150 std::string name_; 00151 std::vector<base::StateSpacePtr> spaces_; 00152 std::string join_; 00153 std::string prefix_; 00154 std::string suffix_; 00155 00156 msg::Interface msg_; 00157 }; 00158 } 00159 00160 #endif