37 #ifndef OMPL_CONTROL_SIMPLE_SETUP_
38 #define OMPL_CONTROL_SIMPLE_SETUP_
40 #include "ompl/base/Planner.h"
41 #include "ompl/control/SpaceInformation.h"
42 #include "ompl/control/PlannerData.h"
43 #include "ompl/base/ProblemDefinition.h"
44 #include "ompl/control/PathControl.h"
45 #include "ompl/geometric/PathGeometric.h"
47 #include "ompl/util/Exception.h"
55 ClassForward(SimpleSetup);
90 return si_->getStateSpace();
96 return si_->getControlSpace();
102 return si_->getStateValidityChecker();
105 const StatePropagatorPtr& getStatePropagator(
void)
const
107 return si_->getStatePropagator();
113 return pdef_->getGoal();
135 return pdef_->getSolutionPath();
147 si_->setStateValidityChecker(svc);
153 si_->setStateValidityChecker(svc);
159 si_->setStatePropagator(sp);
165 si_->setStatePropagator(sp);
171 pdef_->setStartAndGoalStates(start, goal, threshold);
177 pdef_->setGoalState(goal, threshold);
184 pdef_->addStartState(state);
190 pdef_->clearStartStates();
204 pdef_->setGoal(goal);
213 if (planner && planner->getSpaceInformation().get() !=
si_.get())
214 throw Exception(
"Planner instance does not match space information");
250 virtual void clear(
void);
253 virtual void print(std::ostream &out = std::cout)
const;
258 virtual void setup(
void);