.. _program_listing_file_src_ompl_base_ProblemDefinition.h:

Program Listing for File ProblemDefinition.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_ProblemDefinition.h>` (``src/ompl/base/ProblemDefinition.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_BASE_PROBLEM_DEFINITION_
   #define OMPL_BASE_PROBLEM_DEFINITION_
   
   #include "ompl/base/State.h"
   #include "ompl/base/Goal.h"
   #include "ompl/base/Path.h"
   #include "ompl/base/Cost.h"
   #include "ompl/base/SpaceInformation.h"
   #include "ompl/base/SolutionNonExistenceProof.h"
   #include "ompl/util/Console.h"
   #include "ompl/util/ClassForward.h"
   #include "ompl/base/ScopedState.h"
   
   #include <vector>
   #include <cstdlib>
   #include <iostream>
   #include <limits>
   
   namespace ompl
   {
       namespace base
       {
   
           OMPL_CLASS_FORWARD(ProblemDefinition);
           OMPL_CLASS_FORWARD(OptimizationObjective);
   
           struct PlannerSolution
           {
               PlannerSolution(const PathPtr &path)
                 : path_(path)
                 , length_(path ? path->length() : std::numeric_limits<double>::infinity())
               {
               }
   
               bool operator==(const PlannerSolution &p) const
               {
                   return path_ == p.path_;
               }
   
               bool operator<(const PlannerSolution &b) const;
   
               void setApproximate(double difference)
               {
                   approximate_ = true;
                   difference_ = difference;
               }
   
               void setOptimized(const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
               {
                   opt_ = opt;
                   cost_ = cost;
                   optimized_ = meetsObjective;
               }
   
               void setPlannerName(const std::string &name)
               {
                   plannerName_ = name;
               }
   
               int index_{-1};
   
               PathPtr path_;
   
               double length_;
   
               bool approximate_{false};
   
               double difference_{0.};
   
               bool optimized_{false};
   
               OptimizationObjectivePtr opt_;
   
               Cost cost_;
   
               std::string plannerName_;
           };
   
           class Planner;
   
           using ReportIntermediateSolutionFn =
               std::function<void(const Planner *, const std::vector<const base::State *> &, const Cost)>;
   
           OMPL_CLASS_FORWARD(OptimizationObjective);
   
           class ProblemDefinition
           {
           public:
               // non-copyable
               ProblemDefinition(const ProblemDefinition &) = delete;
               ProblemDefinition &operator=(const ProblemDefinition &) = delete;
   
               ProblemDefinition(SpaceInformationPtr si);
   
               ProblemDefinitionPtr clone() const;
   
               virtual ~ProblemDefinition()
               {
                   clearStartStates();
               }
   
               const SpaceInformationPtr &getSpaceInformation() const
               {
                   return si_;
               }
   
               void addStartState(const State *state)
               {
                   startStates_.push_back(si_->cloneState(state));
               }
   
               void addStartState(const ScopedState<> &state)
               {
                   startStates_.push_back(si_->cloneState(state.get()));
               }
   
               bool hasStartState(const State *state, unsigned int *startIndex = nullptr) const;
   
               void clearStartStates()
               {
                   for (auto &startState : startStates_)
                       si_->freeState(startState);
                   startStates_.clear();
               }
   
               unsigned int getStartStateCount() const
               {
                   return startStates_.size();
               }
   
               const State *getStartState(unsigned int index) const
               {
                   return startStates_[index];
               }
   
               State *getStartState(unsigned int index)
               {
                   return startStates_[index];
               }
   
               void setGoal(const GoalPtr &goal)
               {
                   goal_ = goal;
               }
   
               void clearGoal()
               {
                   goal_.reset();
               }
   
               const GoalPtr &getGoal() const
               {
                   return goal_;
               }
   
               void getInputStates(std::vector<const State *> &states) const;
   
               void setStartAndGoalStates(const State *start, const State *goal,
                                          double threshold = std::numeric_limits<double>::epsilon());
   
               void setGoalState(const State *goal, double threshold = std::numeric_limits<double>::epsilon());
   
               void setStartAndGoalStates(const ScopedState<> &start, const ScopedState<> &goal,
                                          const double threshold = std::numeric_limits<double>::epsilon())
               {
                   setStartAndGoalStates(start.get(), goal.get(), threshold);
               }
   
               void setGoalState(const ScopedState<> &goal,
                                 const double threshold = std::numeric_limits<double>::epsilon())
               {
                   setGoalState(goal.get(), threshold);
               }
   
               bool hasOptimizationObjective() const
               {
                   return optimizationObjective_ != nullptr;
               }
   
               const OptimizationObjectivePtr &getOptimizationObjective() const
               {
                   return optimizationObjective_;
               }
   
               void setOptimizationObjective(const OptimizationObjectivePtr &optimizationObjective)
               {
                   optimizationObjective_ = optimizationObjective;
               }
   
               const ReportIntermediateSolutionFn &getIntermediateSolutionCallback() const
               {
                   return intermediateSolutionCallback_;
               }
   
               void setIntermediateSolutionCallback(const ReportIntermediateSolutionFn &callback)
               {
                   intermediateSolutionCallback_ = callback;
               }
   
               bool isTrivial(unsigned int *startIndex = nullptr, double *distance = nullptr) const;
   
               PathPtr isStraightLinePathValid() const;
   
               bool fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts);
   
               bool hasSolution() const;
   
               bool hasExactSolution() const
               {
                   return this->hasSolution() && !this->hasApproximateSolution();
               }
   
               bool hasApproximateSolution() const;
   
               double getSolutionDifference() const;
   
               bool hasOptimizedSolution() const;
   
               PathPtr getSolutionPath() const;
   
               bool getSolution(PlannerSolution &solution) const;
   
               void addSolutionPath(const PathPtr &path, bool approximate = false, double difference = -1.0,
                                    const std::string &plannerName = "Unknown") const;
   
               void addSolutionPath(const PlannerSolution &sol) const;
   
               std::size_t getSolutionCount() const;
   
               std::vector<PlannerSolution> getSolutions() const;
   
               void clearSolutionPaths() const;
   
               bool hasSolutionNonExistenceProof() const;
   
               void clearSolutionNonExistenceProof();
   
               const SolutionNonExistenceProofPtr &getSolutionNonExistenceProof() const;
   
               void setSolutionNonExistenceProof(const SolutionNonExistenceProofPtr &nonExistenceProof);
   
               void print(std::ostream &out = std::cout) const;
   
           protected:
               bool fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts);
   
               SpaceInformationPtr si_;
   
               std::vector<State *> startStates_;
   
               GoalPtr goal_;
   
               SolutionNonExistenceProofPtr nonExistenceProof_;
   
               OptimizationObjectivePtr optimizationObjective_;
   
               ReportIntermediateSolutionFn intermediateSolutionCallback_;
   
           private:
               OMPL_CLASS_FORWARD(PlannerSolutionSet);
   
               PlannerSolutionSetPtr solutions_;
           };
       }
   }
   
   #endif