Program Listing for File 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