.. _program_listing_file_src_ompl_geometric_SimpleSetup.h:

Program Listing for File SimpleSetup.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_geometric_SimpleSetup.h>` (``src/ompl/geometric/SimpleSetup.h``)

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

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_GEOMETRIC_SIMPLE_SETUP_
   #define OMPL_GEOMETRIC_SIMPLE_SETUP_
   
   #include "ompl/base/Planner.h"
   #include "ompl/base/PlannerData.h"
   #include "ompl/base/SpaceInformation.h"
   #include "ompl/base/ProblemDefinition.h"
   #include "ompl/geometric/PathGeometric.h"
   #include "ompl/geometric/PathSimplifier.h"
   #include "ompl/util/Console.h"
   #include "ompl/util/Exception.h"
   
   namespace ompl
   {
       namespace geometric
       {
           OMPL_CLASS_FORWARD(SimpleSetup);
   
           class SimpleSetup
           {
           public:
               explicit SimpleSetup(const base::SpaceInformationPtr &si);
   
               explicit SimpleSetup(const base::StateSpacePtr &space);
   
               virtual ~SimpleSetup() = default;
   
               const base::SpaceInformationPtr &getSpaceInformation() const
               {
                   return si_;
               }
   
               const base::ProblemDefinitionPtr &getProblemDefinition() const
               {
                   return pdef_;
               }
   
               base::ProblemDefinitionPtr &getProblemDefinition()
               {
                   return pdef_;
               }
   
               const base::StateSpacePtr &getStateSpace() const
               {
                   return si_->getStateSpace();
               }
   
               const base::StateValidityCheckerPtr &getStateValidityChecker() const
               {
                   return si_->getStateValidityChecker();
               }
   
               const base::GoalPtr &getGoal() const
               {
                   return pdef_->getGoal();
               }
   
               const base::PlannerPtr &getPlanner() const
               {
                   return planner_;
               }
   
               const base::PlannerAllocator &getPlannerAllocator() const
               {
                   return pa_;
               }
   
               const PathSimplifierPtr &getPathSimplifier() const
               {
                   return psk_;
               }
   
               PathSimplifierPtr &getPathSimplifier()
               {
                   return psk_;
               }
   
               const base::OptimizationObjectivePtr &getOptimizationObjective() const
               {
                   return pdef_->getOptimizationObjective();
               }
   
               bool haveExactSolutionPath() const
               {
                   return pdef_->hasExactSolution();
               }
   
               bool haveSolutionPath() const
               {
                   return pdef_->hasSolution();
               }
   
               const std::string getSolutionPlannerName() const;
   
               PathGeometric &getSolutionPath() const;
   
               void getPlannerData(base::PlannerData &pd) const;
   
               void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
               {
                   si_->setStateValidityChecker(svc);
               }
   
               void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
               {
                   si_->setStateValidityChecker(svc);
               }
   
               void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
               {
                   pdef_->setOptimizationObjective(optimizationObjective);
               }
   
               void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal,
                                          double threshold = std::numeric_limits<double>::epsilon());
   
               void addStartState(const base::ScopedState<> &state)
               {
                   pdef_->addStartState(state);
               }
   
               void clearStartStates()
               {
                   pdef_->clearStartStates();
               }
   
               void setStartState(const base::ScopedState<> &state)
               {
                   clearStartStates();
                   addStartState(state);
               }
   
               void setGoalState(const base::ScopedState<> &goal,
                                 double threshold = std::numeric_limits<double>::epsilon());
   
               void setGoal(const base::GoalPtr &goal);
   
               void setPlanner(const base::PlannerPtr &planner)
               {
                   if (planner && planner->getSpaceInformation().get() != si_.get())
                       throw Exception("Planner instance does not match space information");
                   planner_ = planner;
                   configured_ = false;
               }
   
               void setPlannerAllocator(const base::PlannerAllocator &pa)
               {
                   pa_ = pa;
                   planner_.reset();
                   configured_ = false;
               }
   
               virtual base::PlannerStatus solve(double time = 1.0);
   
               virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
   
               base::PlannerStatus getLastPlannerStatus() const
               {
                   return lastStatus_;
               }
   
               double getLastPlanComputationTime() const
               {
                   return planTime_;
               }
   
               double getLastSimplificationTime() const
               {
                   return simplifyTime_;
               }
   
               void simplifySolution(double duration = 0.0);
   
               void simplifySolution(const base::PlannerTerminationCondition &ptc);
   
               virtual void clear();
   
               virtual void print(std::ostream &out = std::cout) const;
   
               virtual void setup();
   
           protected:
               base::SpaceInformationPtr si_;
   
               base::ProblemDefinitionPtr pdef_;
   
               base::PlannerPtr planner_;
   
               base::PlannerAllocator pa_;
   
               PathSimplifierPtr psk_;
   
               bool configured_;
   
               double planTime_;
   
               double simplifyTime_;
   
               base::PlannerStatus lastStatus_;
           };
       }
   }
   #endif