.. _program_listing_file_src_ompl_geometric_PathGeometric.h:

Program Listing for File PathGeometric.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_geometric_PathGeometric.h>` (``src/ompl/geometric/PathGeometric.h``)

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

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_GEOMETRIC_PATH_GEOMETRIC_
   #define OMPL_GEOMETRIC_PATH_GEOMETRIC_
   
   #include "ompl/base/SpaceInformation.h"
   #include "ompl/base/Path.h"
   #include <vector>
   #include <utility>
   
   namespace ompl
   {
       namespace base
       {
           OMPL_CLASS_FORWARD(OptimizationObjective);
       }
   
       namespace geometric
       {
   
           OMPL_CLASS_FORWARD(PathGeometric);
   
           class PathGeometric : public base::Path
           {
           public:
               PathGeometric(const base::SpaceInformationPtr &si) : base::Path(si)
               {
               }
   
               PathGeometric(const PathGeometric &path);
   
               PathGeometric(const base::SpaceInformationPtr &si, const base::State *state);
   
               PathGeometric(const base::SpaceInformationPtr &si, 
                   const base::State *state1, const base::State *state2);
   
               PathGeometric(const base::SpaceInformationPtr &si, 
                   std::vector<const base::State *> &states);
   
               ~PathGeometric() override
               {
                   freeMemory();
               }
   
               PathGeometric &operator=(const PathGeometric &other);
   
               base::Cost cost(const base::OptimizationObjectivePtr &obj) const override;
   
               double length() const override;
   
               bool check() const override;
   
               double smoothness() const;
   
               double clearance() const;
   
               void print(std::ostream &out) const override;
   
               virtual void printAsMatrix(std::ostream &out) const;
   
               void interpolate(unsigned int count);
   
               void interpolate();
   
               void subdivide();
   
               void reverse();
   
               std::pair<bool, bool> checkAndRepair(unsigned int attempts);
   
               void overlay(const PathGeometric &over, unsigned int startIndex = 0);
   
               void append(const base::State *state);
   
               void append(const PathGeometric &path);
   
               void prepend(const base::State *state);
   
               void keepAfter(const base::State *state);
   
               void keepBefore(const base::State *state);
   
               void random();
   
               bool randomValid(unsigned int attempts);
               int getClosestIndex(const base::State *state) const;
   
               std::vector<base::State *> &getStates()
               {
                   return states_;
               }
   
               base::State *getState(unsigned int index)
               {
                   return states_[index];
               }
   
               const base::State *getState(unsigned int index) const
               {
                   return states_[index];
               }
   
               std::size_t getStateCount() const
               {
                   return states_.size();
               }
   
               void clear();
   
           protected:
               void freeMemory();
   
               void copyFrom(const PathGeometric &other);
   
               std::vector<base::State *> states_;
           };
       }
   }
   
   #endif