.. _program_listing_file_src_ompl_control_PathControl.h:

Program Listing for File PathControl.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_control_PathControl.h>` (``src/ompl/control/PathControl.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_CONTROL_PATH_CONTROL_
   #define OMPL_CONTROL_PATH_CONTROL_
   
   #include "ompl/control/SpaceInformation.h"
   #include "ompl/base/Path.h"
   #include "ompl/geometric/PathGeometric.h"
   #include <vector>
   
   namespace ompl
   {
       namespace base
       {
           OMPL_CLASS_FORWARD(OptimizationObjective);
       }
   
       namespace control
       {
           class PathControl : public base::Path
           {
           public:
               PathControl(const base::SpaceInformationPtr &si);
   
               PathControl(const PathControl &path);
   
               ~PathControl() override
               {
                   freeMemory();
               }
   
               PathControl &operator=(const PathControl &other);
   
               base::Cost cost(const base::OptimizationObjectivePtr &opt) const override;
   
               double length() const override;
   
               bool check() const override;
   
               void print(std::ostream &out) const override;
               virtual void printAsMatrix(std::ostream &out) const;
   
               geometric::PathGeometric asGeometric() const;
   
               void append(const base::State *state);
   
               void append(const base::State *state, const Control *control, double duration);
   
               void interpolate();
   
               void random();
   
               bool randomValid(unsigned int attempts);
   
               std::vector<base::State *> &getStates()
               {
                   return states_;
               }
   
               std::vector<Control *> &getControls()
               {
                   return controls_;
               }
   
               std::vector<double> &getControlDurations()
               {
                   return controlDurations_;
               }
   
               base::State *getState(unsigned int index)
               {
                   return states_[index];
               }
   
               const base::State *getState(unsigned int index) const
               {
                   return states_[index];
               }
   
               Control *getControl(unsigned int index)
               {
                   return controls_[index];
               }
   
               const Control *getControl(unsigned int index) const
               {
                   return controls_[index];
               }
   
               double getControlDuration(unsigned int index) const
               {
                   return controlDurations_[index];
               }
   
               std::size_t getStateCount() const
               {
                   return states_.size();
               }
   
               std::size_t getControlCount() const
               {
                   return controls_.size();
               }
   
           protected:
               std::vector<base::State *> states_;
   
               std::vector<Control *> controls_;
   
               std::vector<double> controlDurations_;
   
               void freeMemory();
   
               void copyFrom(const PathControl &other);
           };
       }
   }
   
   #endif