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KoulesSetup.h
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34
35/* Author: Beck Chen, Mark Moll */
36
37#ifndef DEMOS_KOULES_SIMPLESETUP_
38#define DEMOS_KOULES_SIMPLESETUP_
39
40#include <ompl/control/SimpleSetup.h>
41
42OMPL_CLASS_FORWARD(KoulesSetup);
43
45class KoulesSetup : public ompl::control::SimpleSetup
46{
47public:
48 KoulesSetup(unsigned int numKoules, const std::string& plannerName,
49 const std::vector<double>& stateVec = std::vector<double>());
50 KoulesSetup(unsigned int numKoules, const std::string& plannerName, double kouleVel);
51
52 // Given a planner name, return a planner instance that has been configured
53 // for the koules problem.
54 ompl::base::PlannerPtr getConfiguredPlannerInstance(const std::string& plannerName);
55private:
56 void initialize(unsigned int numKoules, const std::string& plannerName,
57 const std::vector<double>& stateVec = std::vector<double>());
58};
60
61#endif
Create the set of classes typically needed to solve a control problem.
Definition SimpleSetup.h:63