37 #ifndef OMPL_GEOMETRIC_SIMPLE_SETUP_
38 #define OMPL_GEOMETRIC_SIMPLE_SETUP_
40 #include "ompl/base/Planner.h"
41 #include "ompl/base/PlannerData.h"
42 #include "ompl/base/SpaceInformation.h"
43 #include "ompl/base/ProblemDefinition.h"
44 #include "ompl/geometric/PathGeometric.h"
45 #include "ompl/geometric/PathSimplifier.h"
47 #include "ompl/util/Exception.h"
56 OMPL_CLASS_FORWARD(SimpleSetup);
91 return si_->getStateSpace();
97 return si_->getStateValidityChecker();
103 return pdef_->getGoal();
136 return pdef_->getSolutionPath();
148 si_->setStateValidityChecker(svc);
154 si_->setStateValidityChecker(svc);
159 const double threshold = std::numeric_limits<double>::epsilon())
161 pdef_->setStartAndGoalStates(start, goal, threshold);
168 pdef_->addStartState(state);
174 pdef_->clearStartStates();
187 pdef_->setGoalState(goal, threshold);
194 pdef_->setGoal(goal);
203 if (planner && planner->getSpaceInformation().get() !=
si_.get())
204 throw Exception(
"Planner instance does not match space information");
253 virtual void clear(
void);
256 virtual void print(std::ostream &out = std::cout)
const;
261 virtual void setup(
void);