Loading...
Searching...
No Matches
LTLProblemDefinition.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2013, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Matt Maly */
36
37#ifndef OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
38#define OMPL_CONTROL_PLANNERS_LTL_LTLPROBLEMDEFINITION_
39
40#include "ompl/base/ProblemDefinition.h"
41#include "ompl/control/planners/ltl/ProductGraph.h"
42#include "ompl/control/planners/ltl/LTLSpaceInformation.h"
43
44namespace ompl
45{
46 namespace control
47 {
49
50 OMPL_CLASS_FORWARD(LTLProblemDefinition);
52
56 {
57 public:
58 LTLProblemDefinition(const control::LTLSpaceInformationPtr &ltlsi);
59
60 ~LTLProblemDefinition() override = default;
61
62 void addLowerStartState(const base::State *s);
63
64 base::PathPtr getLowerSolutionPath() const;
65
66 protected:
67 void createGoal();
68
70 };
71 }
72}
73
74#endif
Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...
Definition of an abstract state.
Definition State.h:50
A shared pointer wrapper for ompl::control::LTLSpaceInformation.
Main namespace. Contains everything in this library.