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LTLSpaceInformation.h
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34
35/* Author: Matt Maly */
36
37#ifndef OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
38#define OMPL_CONTROL_PLANNERS_LTL_LTLSPACEINFORMATION_
39
40#include "ompl/base/spaces/DiscreteStateSpace.h"
41#include "ompl/control/SpaceInformation.h"
42#include "ompl/control/planners/ltl/ProductGraph.h"
43
44namespace ompl
45{
46 namespace control
47 {
49
50 OMPL_CLASS_FORWARD(LTLSpaceInformation);
52
56 {
57 public:
59
60 ~LTLSpaceInformation() override = default;
61
62 void setup() override;
63
64 const ProductGraphPtr &getProductGraph() const
65 {
66 return prod_;
67 }
68
69 const SpaceInformationPtr &getLowSpace()
70 {
71 return lowSpace_;
72 }
73
74 void getFullState(const base::State *low, base::State *full);
75
76 base::State *getLowLevelState(base::State *s);
77 const base::State *getLowLevelState(const base::State *s);
78
79 ProductGraph::State *getProdGraphState(const base::State *s) const;
80
81 protected:
82 enum SpaceIndex
83 {
84 LOW_LEVEL = 0,
85 REGION = 1,
86 COSAFE = 2,
87 SAFE = 3
88 };
89 // Creates a new state propagator which uses the user-defined propagator
90 // defined in low state space, followed by automaton-defined transition rules
91 // for the co-safe and safe automata in prod.
92 void extendPropagator(const SpaceInformationPtr &oldsi);
93
94 // Creates a new state validity checker which uses the user-defined validity checker
95 // defined in low state space and also checks for valid states in the automata in prod.
96 void extendValidityChecker(const SpaceInformationPtr &oldsi);
97
98 ProductGraphPtr prod_;
99 SpaceInformationPtr lowSpace_;
100 };
101 }
102}
103
104#endif
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
void setup() override
Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...
A shared pointer wrapper for ompl::control::ProductGraph.
A State of a ProductGraph represents a vertex in the graph-based Cartesian product represented by the...
Space information containing necessary information for planning with controls. setup() needs to be ca...
Main namespace. Contains everything in this library.