PathRestriction.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION__
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION__
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
 
namespace ompl
{
    namespace base
    {
 
        OMPL_CLASS_FORWARD(Path);
    }
    namespace geometric
    {
 
        OMPL_CLASS_FORWARD(PathGeometric);
    }
    namespace multilevel
    {
 
        OMPL_CLASS_FORWARD(BundleSpaceGraph);
        OMPL_CLASS_FORWARD(PathSection);
        OMPL_CLASS_FORWARD(Head);
        OMPL_CLASS_FORWARD(FindSection);
 
        using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration;
 
        class PathRestriction
        {
        public:
            PathRestriction() = delete;
            PathRestriction(BundleSpaceGraph *);
 
            virtual ~PathRestriction();
 
            virtual void clear();
 
            void setBasePath(base::PathPtr);
 
            void setBasePath(std::vector<base::State *>);
 
            const std::vector<base::State *> &getBasePath() const;
 
            void setFindSectionStrategy(FindSectionType type);
 
            bool hasFeasibleSection(Configuration *const, Configuration *const);
 
            BundleSpaceGraph *getBundleSpaceGraph();
 
            double getLengthBasePath() const;
 
            unsigned int size() const;
 
            const base::State *getBaseStateAt(int k) const;
 
            double getLengthIntermediateBasePath(int k);
 
            double getLengthBasePathUntil(int k);
 
            int getBasePathLastIndexFromLocation(double d);
 
            void interpolateBasePath(double t, base::State *&state) const;
 
            friend std::ostream &operator<<(std::ostream &, const PathRestriction &);
 
            virtual void print(std::ostream &) const;
 
        protected:
            BundleSpaceGraph *bundleSpaceGraph_;
 
            std::vector<base::State *> basePath_;
 
            double lengthBasePath_{0.0};
 
            std::vector<double> lengthsIntermediateBasePath_;
 
            std::vector<double> lengthsCumulativeBasePath_;
 
            FindSectionPtr findSection_;
        };
    }
}
 
#endif