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LTLProblemDefinition.cpp
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34
35/* Author: Matt Maly */
36
37#include "ompl/control/PathControl.h"
38#include "ompl/control/planners/ltl/LTLProblemDefinition.h"
39#include "ompl/control/planners/ltl/LTLSpaceInformation.h"
40#include "ompl/base/ProblemDefinition.h"
41
42namespace ob = ompl::base;
43namespace oc = ompl::control;
44
45oc::LTLProblemDefinition::LTLProblemDefinition(const LTLSpaceInformationPtr &ltlsi)
46 : ob::ProblemDefinition(ltlsi), ltlsi_(ltlsi)
47{
48 createGoal();
49}
50
51void oc::LTLProblemDefinition::addLowerStartState(const ob::State *s)
52{
54 ltlsi_->getFullState(s, fullStart.get());
55 addStartState(fullStart);
56}
57
58ob::PathPtr oc::LTLProblemDefinition::getLowerSolutionPath() const
59{
60 PathControl *fullPath = static_cast<PathControl *>(getSolutionPath().get());
61 auto lowPath(std::make_shared<PathControl>(ltlsi_->getLowSpace()));
62
63 if (fullPath->getStateCount() > 0)
64 {
65 for (size_t i = 0; i < fullPath->getStateCount() - 1; ++i)
66 lowPath->append(ltlsi_->getLowLevelState(fullPath->getState(i)), fullPath->getControl(i),
67 fullPath->getControlDuration(i));
68
69 // The last state does not have a control
70 lowPath->append(ltlsi_->getLowLevelState(fullPath->getState(fullPath->getStateCount() - 1)));
71 }
72
73 return lowPath;
74}
75
76void oc::LTLProblemDefinition::createGoal()
77{
78 class LTLGoal : public base::Goal
79 {
80 public:
81 LTLGoal(const LTLSpaceInformationPtr &ltlsi) : ob::Goal(ltlsi), ltlsi_(ltlsi), prod_(ltlsi->getProductGraph())
82 {
83 }
84 ~LTLGoal() override = default;
85 bool isSatisfied(const ob::State *s) const override
86 {
87 return prod_->isSolution(ltlsi_->getProdGraphState(s));
88 }
89
90 protected:
91 const LTLSpaceInformationPtr ltlsi_;
92 const ProductGraphPtr prod_;
93 };
94
95 // Some compilers have trouble with LTLGoal being hidden in this function,
96 // and so we explicitly cast it to its base type.
97 setGoal(std::make_shared<LTLGoal>(ltlsi_));
98}
void addStartState(const State *state)
Add a start state. The state is copied.
SpaceInformationPtr si_
The space information this problem definition is for.
Definition of a scoped state.
Definition: ScopedState.h:57
Definition of an abstract state.
Definition: State.h:50
A shared pointer wrapper for ompl::control::LTLSpaceInformation.
A shared pointer wrapper for ompl::control::ProductGraph.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:45