OMPLConfigurationToConfigurationPlanner.hpp

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#ifndef AIKIDO_PLANNER_OMPL_OMPLCONFIGURATIONTOCONFIGURATIONPLANNER_HPP_
#define AIKIDO_PLANNER_OMPL_OMPLCONFIGURATIONTOCONFIGURATIONPLANNER_HPP_
 
#include <ompl/base/Planner.h>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/base/ScopedState.h>
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/goals/GoalRegion.h>
#include <ompl/geometric/PathSimplifier.h>
 
#include "aikido/common/RNG.hpp"
#include "aikido/constraint/Projectable.hpp"
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/constraint/Testable.hpp"
#include "aikido/distance/DistanceMetric.hpp"
#include "aikido/planner/ConfigurationToConfiguration.hpp"
#include "aikido/planner/ConfigurationToConfigurationPlanner.hpp"
#include "aikido/planner/ompl/GeometricStateSpace.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace planner {
namespace ompl {
 
template <class PlannerType>
class OMPLConfigurationToConfigurationPlanner
  : public aikido::planner::ConfigurationToConfigurationPlanner
{
public:
  OMPLConfigurationToConfigurationPlanner(
      statespace::ConstStateSpacePtr stateSpace,
      common::RNG* rng = nullptr,
      statespace::ConstInterpolatorPtr interpolator = nullptr,
      distance::DistanceMetricPtr dmetric = nullptr,
      constraint::SampleablePtr sampler = nullptr,
      constraint::ConstTestablePtr boundsConstraint = nullptr,
      constraint::ProjectablePtr boundsProjector = nullptr,
      double maxDistanceBtwValidityChecks = 0.1);
 
  trajectory::TrajectoryPtr plan(
      const SolvableProblem& problem, Result* result = nullptr) override;
 
  ::ompl::base::PlannerPtr getOMPLPlanner();
 
protected:
  ::ompl::base::PlannerPtr mPlanner;
};
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#include "aikido/planner/ompl/detail/OMPLConfigurationToConfigurationPlanner-impl.hpp"
 
#endif // AIKIDO_PLANNER_OMPL_OMPLCONFIGURATIONTOCONFIGURATIONPLANNER_HPP_