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<li class="navelem"><b>ompl</b></li><li class="navelem"><b>control</b></li><li class="navelem"><b>planners</b></li><li class="navelem"><b>ltl</b></li><li class="navelem"><b>src</b></li> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2012, Rice University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Matt Maly, Keliang He */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "ompl/control/planners/ltl/Automaton.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "ompl/control/planners/ltl/World.h"</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#if OMPL_HAVE_SPOT</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <spot/tl/parse.hh></span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <spot/tl/print.hh></span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include <spot/twaalgos/translate.hh></span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <spot/twa/bddprint.hh></span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include <spot/misc/minato.hh></span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include <spot/twa/formula2bdd.hh></span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <typeinfo></span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="preprocessor">#include <boost/range/irange.hpp></span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="preprocessor">#include <unordered_map></span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="preprocessor">#include <unordered_set></span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="preprocessor">#include <boost/dynamic_bitset.hpp></span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="preprocessor">#include <ostream></span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="preprocessor">#include <limits></span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="preprocessor">#include <queue></span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="preprocessor">#include <vector></span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="foldopen" id="foldopen00057" data-start="{" data-end="}">
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="structompl_1_1control_1_1Automaton_1_1TransitionMap.html#aee7782bc90c0d9053e1af7494081c540"> 57</a></span><span class="keywordtype">int</span> <a class="code hl_function" href="structompl_1_1control_1_1Automaton_1_1TransitionMap.html#aee7782bc90c0d9053e1af7494081c540">ompl::control::Automaton::TransitionMap::eval</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> &w)<span class="keyword"> const</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">const</span> <span class="keyword">auto</span> d = entries.find(w);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordflow">if</span> (d != entries.end())</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordflow">return</span> d->second;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &entry : entries)</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> {</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordflow">if</span> (w.<a class="code hl_function" href="classompl_1_1control_1_1World.html#a089b584d501b104a14e942d9524c07a6">satisfies</a>(entry.first))</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> {</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="comment">// Since w satisfies another world that leads to d->second,</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="comment">// we can add an edge directly from w to d->second.</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> entries[w] = entry.second;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordflow">return</span> entry.second;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> }</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> }</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordflow">return</span> -1;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span>}</div>
</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="foldopen" id="foldopen00075" data-start="{" data-end="}">
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a07c814c84b38b4ed46fab2d91b4a8b48"> 75</a></span><a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a07c814c84b38b4ed46fab2d91b4a8b48">ompl::control::Automaton::Automaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ad3c024ca5e81d599fc58b742525cf948">numStates</a>)</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> : numProps_(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>)</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> , numStates_(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ad3c024ca5e81d599fc58b742525cf948">numStates</a>)</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> , accepting_(numStates_, false)</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> , transitions_(numStates_)</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> , distances_(numStates_, <a class="code hl_namespace" href="namespacestd.html">std</a>::numeric_limits<unsigned int>::max())</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span>{</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span>}</div>
</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span><span class="preprocessor">#if OMPL_HAVE_SPOT</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span><a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a07c814c84b38b4ed46fab2d91b4a8b48">ompl::control::Automaton::Automaton</a>(<span class="keywordtype">unsigned</span> numProps, std::string formula, <span class="keywordtype">bool</span> isCosafe)</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> : <a class="code hl_class" href="classompl_1_1control_1_1Automaton.html">Automaton</a>::<a class="code hl_class" href="classompl_1_1control_1_1Automaton.html">Automaton</a>(numProps)</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span>{</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordflow">if</span> (!isCosafe)</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> formula = <span class="stringliteral">"! ("</span> + formula + <span class="stringliteral">")"</span>;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> spot::formula f = spot::parse_formula(formula);</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> spot::translator trans;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="comment">// We want deterministic output (dfa)</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> trans.set_pref(spot::postprocessor::Deterministic);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="comment">// Apply all optimizations - will be slowest</span></div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> trans.set_level(spot::postprocessor::High);</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> trans.set_type(spot::postprocessor::BA);</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> spot::twa_graph_ptr au = trans.run(f);</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">const</span> <span class="keyword">auto</span> &dict = au->get_dict();</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n = au->num_states();</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s = 0; s < n; ++s)</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a462aa48d3acdae939d7eef3877077a70">addState</a>(<span class="keyword">false</span>);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s = 0; s < n; ++s)</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> {</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="comment">// The out(s) method returns a fake container that can be</span></div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="comment">// iterated over as if the contents was the edges going</span></div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="comment">// out of s. Each of these edge is a quadruplet</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="comment">// (src,dst,cond,acc). Note that because this returns</span></div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="comment">// a reference, the edge can also be modified.</span></div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &t : au->out(s))</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> {</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordflow">if</span> (t.acc)</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ae290fef5beab81c4aac1036458f84e81">setAccepting</a>(s, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="comment">// Parse the formula</span></div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> spot::minato_isop isop(t.cond);</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> bdd clause = isop.next();</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordflow">if</span> (clause == bddfalse)</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#abf76004d623e528a123d7dc62ff11d6c">addTransition</a>(s, <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, t.dst);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> {</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordflow">while</span> (clause != bddfalse)</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> {</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">ompl::control::World</a> edgeLabel(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordflow">while</span> (clause != bddtrue)</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> {</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">int</span> var = bdd_var(clause);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">const</span> spot::bdd_dict::bdd_info &i = dict->bdd_map[var];</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> assert(i.type == spot::bdd_dict::var);</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keyword">auto</span> index = std::stoul(i.f.ap_name().substr(1));</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> bdd high = bdd_high(clause);</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> assert(index < <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordflow">if</span> (high == bddfalse)</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> {</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> edgeLabel[index] = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> clause = bdd_low(clause);</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> }</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> {</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> assert(bdd_low(clause) == bddfalse);</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> edgeLabel[index] = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> clause = high;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> }</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> }</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#abf76004d623e528a123d7dc62ff11d6c">addTransition</a>(s, edgeLabel, t.dst);</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> </div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> clause = isop.next();</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> }</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> }</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> }</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> }</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a8cac10052e609bd2a54dc4087e509175">setStartState</a>(au->get_init_state_number());</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordflow">if</span> (!isCosafe)</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> accepting_.flip();</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span>}</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="foldopen" id="foldopen00162" data-start="{" data-end="}">
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a462aa48d3acdae939d7eef3877077a70"> 162</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a462aa48d3acdae939d7eef3877077a70">ompl::control::Automaton::addState</a>(<span class="keywordtype">bool</span> accepting)</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span>{</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> ++numStates_;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> accepting_.resize(numStates_);</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> accepting_[numStates_ - 1] = accepting;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> transitions_.resize(numStates_);</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> distances_.resize(numStates_, std::numeric_limits<unsigned int>::max());</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordflow">return</span> numStates_ - 1;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span>}</div>
</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> </div>
<div class="foldopen" id="foldopen00172" data-start="{" data-end="}">
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#ae290fef5beab81c4aac1036458f84e81"> 172</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ae290fef5beab81c4aac1036458f84e81">ompl::control::Automaton::setAccepting</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s, <span class="keywordtype">bool</span> a)</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span>{</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> accepting_[s] = a;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span>}</div>
</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> </div>
<div class="foldopen" id="foldopen00177" data-start="{" data-end="}">
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a51700e864535ff24e2ca38b5f25e61af"> 177</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a51700e864535ff24e2ca38b5f25e61af">ompl::control::Automaton::isAccepting</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s)<span class="keyword"> const</span></div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordflow">return</span> accepting_[s];</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span>}</div>
</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> </div>
<div class="foldopen" id="foldopen00182" data-start="{" data-end="}">
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a8cac10052e609bd2a54dc4087e509175"> 182</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a8cac10052e609bd2a54dc4087e509175">ompl::control::Automaton::setStartState</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s)</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span>{</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> startState_ = s;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span>}</div>
</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div>
<div class="foldopen" id="foldopen00187" data-start="{" data-end="}">
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#abd0f2820386689f580e960a7e74e3d06"> 187</a></span><span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#abd0f2820386689f580e960a7e74e3d06">ompl::control::Automaton::getStartState</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordflow">return</span> startState_;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span>}</div>
</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
<div class="foldopen" id="foldopen00192" data-start="{" data-end="}">
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#abf76004d623e528a123d7dc62ff11d6c"> 192</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#abf76004d623e528a123d7dc62ff11d6c">ompl::control::Automaton::addTransition</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> src, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> &w, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dest)</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span>{</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <a class="code hl_struct" href="structompl_1_1control_1_1Automaton_1_1TransitionMap.html">TransitionMap</a> &map = transitions_[src];</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> map.entries[w] = dest;</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span>}</div>
</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> </div>
<div class="foldopen" id="foldopen00198" data-start="{" data-end="}">
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#ae6dc792403a31bd096846ab9636fabe7"> 198</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ae6dc792403a31bd096846ab9636fabe7">ompl::control::Automaton::run</a>(<span class="keyword">const</span> std::vector<World> &trace)<span class="keyword"> const</span></div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordtype">int</span> current = startState_;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &w : trace)</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> {</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> current = <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ab94b84b95d81f630f53f1d0fa6f83c5d">step</a>(current, w);</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordflow">if</span> (current == -1)</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> }</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span>}</div>
</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="foldopen" id="foldopen00210" data-start="{" data-end="}">
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#ab94b84b95d81f630f53f1d0fa6f83c5d"> 210</a></span><span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ab94b84b95d81f630f53f1d0fa6f83c5d">ompl::control::Automaton::step</a>(<span class="keywordtype">int</span> state, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> &w)<span class="keyword"> const</span></div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordflow">if</span> (state == -1)</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordflow">return</span> -1;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordflow">return</span> transitions_[state].eval(w);</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span>}</div>
</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> </div>
<div class="foldopen" id="foldopen00217" data-start="{" data-end="}">
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#ab6c20046b4c9191cc7429c99b9b7a6e6"> 217</a></span><a class="code hl_struct" href="structompl_1_1control_1_1Automaton_1_1TransitionMap.html">ompl::control::Automaton::TransitionMap</a> &<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ab6c20046b4c9191cc7429c99b9b7a6e6">ompl::control::Automaton::getTransitions</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> src)</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span>{</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordflow">return</span> transitions_[src];</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span>}</div>
</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
<div class="foldopen" id="foldopen00222" data-start="{" data-end="}">
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#ad3c024ca5e81d599fc58b742525cf948"> 222</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ad3c024ca5e81d599fc58b742525cf948">ompl::control::Automaton::numStates</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordflow">return</span> numStates_;</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span>}</div>
</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> </div>
<div class="foldopen" id="foldopen00227" data-start="{" data-end="}">
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a0f95fe1e8d57398e4575b787086af2cf"> 227</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a0f95fe1e8d57398e4575b787086af2cf">ompl::control::Automaton::numTransitions</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ntrans = 0;</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &transition : transitions_)</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> ntrans += transition.entries.size();</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keywordflow">return</span> ntrans;</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span>}</div>
</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> </div>
<div class="foldopen" id="foldopen00235" data-start="{" data-end="}">
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c"> 235</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">ompl::control::Automaton::numProps</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordflow">return</span> numProps_;</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span>}</div>
</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
<div class="foldopen" id="foldopen00240" data-start="{" data-end="}">
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a81ef5045e570f5a80647351f6a1014e4"> 240</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a81ef5045e570f5a80647351f6a1014e4">ompl::control::Automaton::print</a>(std::ostream &out)<span class="keyword"> const</span></div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> out << <span class="stringliteral">"digraph automaton {"</span> << std::endl;</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> out << <span class="stringliteral">"rankdir=LR"</span> << std::endl;</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < numStates_; ++i)</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> {</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> out << i << R<span class="stringliteral">"( [label=")" << i << R</span><span class="stringliteral">"(",shape=)";</span></div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span><span class="stringliteral"> out << (accepting_[i] ? </span><span class="stringliteral">"doublecircle"</span> : <span class="stringliteral">"circle"</span>) << <span class="stringliteral">"]"</span> << std::endl;</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &e : transitions_[i].entries)</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> {</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> &w = e.first;</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dest = e.second;</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keyword">const</span> std::string formula = w.<a class="code hl_function" href="classompl_1_1control_1_1World.html#a651b583ffb55b7bd6dc6c076fa7ecad2">formula</a>();</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> out << i << <span class="stringliteral">" -> "</span> << dest << R<span class="stringliteral">"( [label=")" << formula << R</span><span class="stringliteral">"("])" << std::endl;</span></div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span><span class="stringliteral"> }</span></div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span><span class="stringliteral"> }</span></div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span><span class="stringliteral"> out << </span><span class="stringliteral">"}"</span> << std::endl;</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span>}</div>
</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> </div>
<div class="foldopen" id="foldopen00260" data-start="{" data-end="}">
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#ac3cea694cb01b9ced68ea129cc1945af"> 260</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ac3cea694cb01b9ced68ea129cc1945af">ompl::control::Automaton::distFromAccepting</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s)<span class="keyword"> const</span></div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordflow">if</span> (distances_[s] < std::numeric_limits<unsigned int>::max())</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordflow">return</span> distances_[s];</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordflow">if</span> (accepting_[s])</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keywordflow">return</span> 0;</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> std::queue<unsigned int> q;</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> std::unordered_set<unsigned int> processed;</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> std::unordered_map<unsigned int, unsigned int> distance;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> q.push(s);</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> distance[s] = 0;</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> processed.insert(s);</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordflow">while</span> (!q.empty())</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> {</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current = q.front();</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> q.pop();</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordflow">if</span> (accepting_[current])</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> {</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> distances_[s] = distance[current];</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordflow">return</span> distance[current];</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> }</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &e : transitions_[current].entries)</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> {</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> neighbor = e.second;</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> <span class="keywordflow">if</span> (processed.count(neighbor) > 0)</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordflow">continue</span>;</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> q.push(neighbor);</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> processed.insert(neighbor);</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> distance[neighbor] = distance[current] + 1;</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> }</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> }</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keywordflow">return</span> std::numeric_limits<unsigned int>::max();</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span>}</div>
</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
<div class="foldopen" id="foldopen00296" data-start="{" data-end="}">
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#aaf844ea902ba46a974d84b941428f246"> 296</a></span>ompl::control::AutomatonPtr <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#aaf844ea902ba46a974d84b941428f246">ompl::control::Automaton::AcceptingAutomaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>)</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span>{</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keyword">auto</span> phi(std::make_shared<Automaton>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, 1));</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> trivial(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> phi->addTransition(0, trivial, 0);</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> phi->setStartState(0);</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> phi->setAccepting(0, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keywordflow">return</span> phi;</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span>}</div>
</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> </div>
<div class="foldopen" id="foldopen00306" data-start="{" data-end="}">
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#aa439e97d635fcacda3079034ae9a0ca2"> 306</a></span>ompl::control::AutomatonPtr <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#aa439e97d635fcacda3079034ae9a0ca2">ompl::control::Automaton::CoverageAutomaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>,</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keyword">const</span> std::vector<unsigned int> &covProps)</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span>{</div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keyword">auto</span> phi(std::make_shared<Automaton>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, 1 << covProps.size()));</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> src = 0; src < phi->numStates(); ++src)</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> {</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keyword">const</span> boost::dynamic_bitset<> state(covProps.size(), src);</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> loop(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="comment">// each value of p is an index of a proposition in covProps</span></div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> p = 0; p < covProps.size(); ++p)</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> {</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="comment">// if proposition covProps[p] has already been covered at state src, skip it</span></div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keywordflow">if</span> (state[p])</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordflow">continue</span>;</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="comment">// for each proposition covProps[p] that has not yet been</span></div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="comment">// covered at state src, construct a transition from src to (src|p)</span></div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="comment">// on formula (covProps[p]==true)</span></div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> boost::dynamic_bitset<> target(state);</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> target[p] = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> nextProp(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> nextProp[covProps[p]] = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> phi->addTransition(src, nextProp, target.to_ulong());</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="comment">// also build a loop from src to src on formula with conjunct (covProps[p]==false)</span></div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> loop[covProps[p]] = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> }</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="comment">// now we add a loop from src to src on conjunction of (covProps[p]==false)</span></div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="comment">// for every p such that the pth bit of src is 1</span></div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> phi->addTransition(src, loop, src);</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> }</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> phi->setAccepting(phi->numStates() - 1, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> phi->setStartState(0);</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordflow">return</span> phi;</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span>}</div>
</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> </div>
<div class="foldopen" id="foldopen00340" data-start="{" data-end="}">
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#ae6c5b5d8aa7c829a46a96e73459bc3b1"> 340</a></span>ompl::control::AutomatonPtr <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ae6c5b5d8aa7c829a46a96e73459bc3b1">ompl::control::Automaton::SequenceAutomaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>,</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keyword">const</span> std::vector<unsigned int> &seqProps)</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span>{</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keyword">auto</span> seq(std::make_shared<Automaton>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, seqProps.size() + 1));</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> state = 0; state < seqProps.size(); ++state)</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> {</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="comment">// loop when next proposition in sequence is not satisfied</span></div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> loop(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> loop[seqProps[state]] = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> seq->addTransition(state, loop, state);</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="comment">// progress forward when next proposition in sequence is satisfied</span></div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> progress(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> progress[seqProps[state]] = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> seq->addTransition(state, progress, state + 1);</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> }</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="comment">// loop on all input when in accepting state</span></div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> seq->addTransition(seqProps.size(), <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>), seqProps.size());</div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> seq->setAccepting(seqProps.size(), <span class="keyword">true</span>);</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> seq->setStartState(0);</div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keywordflow">return</span> seq;</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span>}</div>
</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> </div>
<div class="foldopen" id="foldopen00363" data-start="{" data-end="}">
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#aedbb2474399445319acd41776e466976"> 363</a></span>ompl::control::AutomatonPtr <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#aedbb2474399445319acd41776e466976">ompl::control::Automaton::DisjunctionAutomaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>,</div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keyword">const</span> std::vector<unsigned int> &disjProps)</div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span>{</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keyword">auto</span> disj(std::make_shared<Automaton>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, 2));</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> loop(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> disjProp : disjProps)</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> {</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a> satisfy(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> satisfy[disjProp] = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> loop[disjProp] = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> disj->addTransition(0, satisfy, 1);</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> }</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> disj->addTransition(0, loop, 0);</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> disj->addTransition(1, <a class="code hl_class" href="classompl_1_1control_1_1World.html">World</a>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>), 1);</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> disj->setAccepting(1, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> disj->setStartState(0);</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keywordflow">return</span> disj;</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span>}</div>
</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> </div>
<div class="foldopen" id="foldopen00382" data-start="{" data-end="}">
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a0e52ba1e2636bf3281cb4cab9f671ec1"> 382</a></span>ompl::control::AutomatonPtr <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a0e52ba1e2636bf3281cb4cab9f671ec1">ompl::control::Automaton::AvoidanceAutomaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>,</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keyword">const</span> std::vector<unsigned int> &avoidProps)</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span>{</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="comment">/* An avoidance automaton is simply a disjunction automaton with its acceptance condition flipped. */</span></div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <a class="code hl_class" href="classompl_1_1control_1_1AutomatonPtr.html">AutomatonPtr</a> avoid = <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#aedbb2474399445319acd41776e466976">DisjunctionAutomaton</a>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, avoidProps);</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> avoid->setAccepting(0, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> avoid->setAccepting(1, <span class="keyword">false</span>);</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keywordflow">return</span> avoid;</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span>}</div>
</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> </div>
<div class="foldopen" id="foldopen00392" data-start="{" data-end="}">
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#af64d36ba25147ae103f2baa1f1e25b53"> 392</a></span>ompl::control::AutomatonPtr <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#aa439e97d635fcacda3079034ae9a0ca2">ompl::control::Automaton::CoverageAutomaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>)</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span>{</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">const</span> boost::integer_range<unsigned int> props = boost::irange(0u, <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#aa439e97d635fcacda3079034ae9a0ca2">CoverageAutomaton</a>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, std::vector<unsigned int>(props.begin(), props.end()));</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span>}</div>
</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> </div>
<div class="foldopen" id="foldopen00398" data-start="{" data-end="}">
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#a08b189166cc3f07060e32f1410ed7042"> 398</a></span>ompl::control::AutomatonPtr <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ae6c5b5d8aa7c829a46a96e73459bc3b1">ompl::control::Automaton::SequenceAutomaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>)</div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span>{</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keyword">const</span> boost::integer_range<unsigned int> props = boost::irange(0u, <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#ae6c5b5d8aa7c829a46a96e73459bc3b1">SequenceAutomaton</a>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, std::vector<unsigned int>(props.begin(), props.end()));</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span>}</div>
</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> </div>
<div class="foldopen" id="foldopen00404" data-start="{" data-end="}">
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1Automaton.html#ac379679e779699ba04063146960c2f4a"> 404</a></span>ompl::control::AutomatonPtr <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#aedbb2474399445319acd41776e466976">ompl::control::Automaton::DisjunctionAutomaton</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>)</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span>{</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> <span class="keyword">const</span> boost::integer_range<unsigned int> props = boost::irange(0u, <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>);</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#aedbb2474399445319acd41776e466976">DisjunctionAutomaton</a>(<a class="code hl_function" href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">numProps</a>, std::vector<unsigned int>(props.begin(), props.end()));</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span>}</div>
</div>
<div class="ttc" id="aclassompl_1_1control_1_1AutomatonPtr_html"><div class="ttname"><a href="classompl_1_1control_1_1AutomatonPtr.html">AutomatonPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::control::Automaton.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html">ompl::control::Automaton</a></div><div class="ttdoc">A class to represent a deterministic finite automaton, each edge of which corresponds to a World....</div><div class="ttdef"><b>Definition</b> <a href="Automaton_8h_source.html#l00070">Automaton.h:71</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_a07c814c84b38b4ed46fab2d91b4a8b48"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#a07c814c84b38b4ed46fab2d91b4a8b48">ompl::control::Automaton::Automaton</a></div><div class="ttdeci">Automaton(unsigned int numProps, unsigned int numStates=0)</div><div class="ttdoc">Creates an automaton with a given number of propositions and states.</div><div class="ttdef"><b>Definition</b> <a href="#l00075">Automaton.cpp:75</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_a0e52ba1e2636bf3281cb4cab9f671ec1"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#a0e52ba1e2636bf3281cb4cab9f671ec1">ompl::control::Automaton::AvoidanceAutomaton</a></div><div class="ttdeci">static AutomatonPtr AvoidanceAutomaton(unsigned int numProps, const std::vector< unsigned int > &avoidProps)</div><div class="ttdoc">Returns an avoidance automaton, which rejects when any one of the given list of propositions becomes ...</div><div class="ttdef"><b>Definition</b> <a href="#l00382">Automaton.cpp:382</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_a0f95fe1e8d57398e4575b787086af2cf"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#a0f95fe1e8d57398e4575b787086af2cf">ompl::control::Automaton::numTransitions</a></div><div class="ttdeci">unsigned int numTransitions() const</div><div class="ttdoc">Returns the number of transitions in this automaton.</div><div class="ttdef"><b>Definition</b> <a href="#l00227">Automaton.cpp:227</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_a462aa48d3acdae939d7eef3877077a70"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#a462aa48d3acdae939d7eef3877077a70">ompl::control::Automaton::addState</a></div><div class="ttdeci">unsigned int addState(bool accepting=false)</div><div class="ttdoc">Adds a new state to the automaton and returns an ID for it.</div><div class="ttdef"><b>Definition</b> <a href="#l00162">Automaton.cpp:162</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_a51700e864535ff24e2ca38b5f25e61af"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#a51700e864535ff24e2ca38b5f25e61af">ompl::control::Automaton::isAccepting</a></div><div class="ttdeci">bool isAccepting(unsigned int s) const</div><div class="ttdoc">Returns whether a given state of the automaton is accepting.</div><div class="ttdef"><b>Definition</b> <a href="#l00177">Automaton.cpp:177</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_a81ef5045e570f5a80647351f6a1014e4"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#a81ef5045e570f5a80647351f6a1014e4">ompl::control::Automaton::print</a></div><div class="ttdeci">void print(std::ostream &out) const</div><div class="ttdoc">Prints the automaton to a given output stream, in Graphviz dot format.</div><div class="ttdef"><b>Definition</b> <a href="#l00240">Automaton.cpp:240</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_a8cac10052e609bd2a54dc4087e509175"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#a8cac10052e609bd2a54dc4087e509175">ompl::control::Automaton::setStartState</a></div><div class="ttdeci">void setStartState(unsigned int s)</div><div class="ttdoc">Sets the start state of the automaton.</div><div class="ttdef"><b>Definition</b> <a href="#l00182">Automaton.cpp:182</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_a9619a784cb665e7948ab432d3efe936c"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#a9619a784cb665e7948ab432d3efe936c">ompl::control::Automaton::numProps</a></div><div class="ttdeci">unsigned int numProps() const</div><div class="ttdoc">Returns the number of propositions used by this automaton.</div><div class="ttdef"><b>Definition</b> <a href="#l00235">Automaton.cpp:235</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_aa439e97d635fcacda3079034ae9a0ca2"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#aa439e97d635fcacda3079034ae9a0ca2">ompl::control::Automaton::CoverageAutomaton</a></div><div class="ttdeci">static AutomatonPtr CoverageAutomaton(unsigned int numProps, const std::vector< unsigned int > &covProps)</div><div class="ttdoc">Helper function to return a coverage automaton. Assumes all propositions are mutually exclusive.</div><div class="ttdef"><b>Definition</b> <a href="#l00306">Automaton.cpp:306</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_aaf844ea902ba46a974d84b941428f246"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#aaf844ea902ba46a974d84b941428f246">ompl::control::Automaton::AcceptingAutomaton</a></div><div class="ttdeci">static AutomatonPtr AcceptingAutomaton(unsigned int numProps)</div><div class="ttdoc">Returns a single-state automaton that accepts on all inputs.</div><div class="ttdef"><b>Definition</b> <a href="#l00296">Automaton.cpp:296</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_ab6c20046b4c9191cc7429c99b9b7a6e6"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#ab6c20046b4c9191cc7429c99b9b7a6e6">ompl::control::Automaton::getTransitions</a></div><div class="ttdeci">TransitionMap & getTransitions(unsigned int src)</div><div class="ttdoc">Returns the outgoing transition map for a given automaton state.</div><div class="ttdef"><b>Definition</b> <a href="#l00217">Automaton.cpp:217</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_ab94b84b95d81f630f53f1d0fa6f83c5d"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#ab94b84b95d81f630f53f1d0fa6f83c5d">ompl::control::Automaton::step</a></div><div class="ttdeci">int step(int state, const World &w) const</div><div class="ttdoc">Runs the automaton for one step from the given state, using the values of propositions from a given W...</div><div class="ttdef"><b>Definition</b> <a href="#l00210">Automaton.cpp:210</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_abd0f2820386689f580e960a7e74e3d06"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#abd0f2820386689f580e960a7e74e3d06">ompl::control::Automaton::getStartState</a></div><div class="ttdeci">int getStartState() const</div><div class="ttdoc">Returns the start state of the automaton. Returns -1 if no start state has been set.</div><div class="ttdef"><b>Definition</b> <a href="#l00187">Automaton.cpp:187</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_abf76004d623e528a123d7dc62ff11d6c"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#abf76004d623e528a123d7dc62ff11d6c">ompl::control::Automaton::addTransition</a></div><div class="ttdeci">void addTransition(unsigned int src, const World &w, unsigned int dest)</div><div class="ttdoc">Adds a given transition to the automaton.</div><div class="ttdef"><b>Definition</b> <a href="#l00192">Automaton.cpp:192</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_ac3cea694cb01b9ced68ea129cc1945af"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#ac3cea694cb01b9ced68ea129cc1945af">ompl::control::Automaton::distFromAccepting</a></div><div class="ttdeci">unsigned int distFromAccepting(unsigned int s) const</div><div class="ttdoc">Returns the shortest number of transitions from a given state to an accepting state.</div><div class="ttdef"><b>Definition</b> <a href="#l00260">Automaton.cpp:260</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_ad3c024ca5e81d599fc58b742525cf948"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#ad3c024ca5e81d599fc58b742525cf948">ompl::control::Automaton::numStates</a></div><div class="ttdeci">unsigned int numStates() const</div><div class="ttdoc">Returns the number of states in this automaton.</div><div class="ttdef"><b>Definition</b> <a href="#l00222">Automaton.cpp:222</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_ae290fef5beab81c4aac1036458f84e81"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#ae290fef5beab81c4aac1036458f84e81">ompl::control::Automaton::setAccepting</a></div><div class="ttdeci">void setAccepting(unsigned int s, bool a)</div><div class="ttdoc">Sets the accepting status of a given state.</div><div class="ttdef"><b>Definition</b> <a href="#l00172">Automaton.cpp:172</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_ae6c5b5d8aa7c829a46a96e73459bc3b1"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#ae6c5b5d8aa7c829a46a96e73459bc3b1">ompl::control::Automaton::SequenceAutomaton</a></div><div class="ttdeci">static AutomatonPtr SequenceAutomaton(unsigned int numProps, const std::vector< unsigned int > &seqProps)</div><div class="ttdoc">Helper function to return a sequence automaton. Assumes all propositions are mutually exclusive.</div><div class="ttdef"><b>Definition</b> <a href="#l00340">Automaton.cpp:340</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_ae6dc792403a31bd096846ab9636fabe7"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#ae6dc792403a31bd096846ab9636fabe7">ompl::control::Automaton::run</a></div><div class="ttdeci">bool run(const std::vector< World > &trace) const</div><div class="ttdoc">Runs the automaton from its start state, using the values of propositions from a given sequence of Wo...</div><div class="ttdef"><b>Definition</b> <a href="#l00198">Automaton.cpp:198</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Automaton_html_aedbb2474399445319acd41776e466976"><div class="ttname"><a href="classompl_1_1control_1_1Automaton.html#aedbb2474399445319acd41776e466976">ompl::control::Automaton::DisjunctionAutomaton</a></div><div class="ttdeci">static AutomatonPtr DisjunctionAutomaton(unsigned int numProps, const std::vector< unsigned int > &disjProps)</div><div class="ttdoc">Helper function to return a disjunction automaton, which accepts when one of the given propositions b...</div><div class="ttdef"><b>Definition</b> <a href="#l00363">Automaton.cpp:363</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1World_html"><div class="ttname"><a href="classompl_1_1control_1_1World.html">ompl::control::World</a></div><div class="ttdoc">A class to represent an assignment of boolean values to propositions. A World can be partially restri...</div><div class="ttdef"><b>Definition</b> <a href="World_8h_source.html#l00071">World.h:72</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1World_html_a089b584d501b104a14e942d9524c07a6"><div class="ttname"><a href="classompl_1_1control_1_1World.html#a089b584d501b104a14e942d9524c07a6">ompl::control::World::satisfies</a></div><div class="ttdeci">bool satisfies(const World &w) const</div><div class="ttdoc">Returns whether this World propositionally satisfies a given World w. Specifically,...</div><div class="ttdef"><b>Definition</b> <a href="World_8cpp_source.html#l00065">World.cpp:65</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1World_html_a651b583ffb55b7bd6dc6c076fa7ecad2"><div class="ttname"><a href="classompl_1_1control_1_1World.html#a651b583ffb55b7bd6dc6c076fa7ecad2">ompl::control::World::formula</a></div><div class="ttdeci">std::string formula() const</div><div class="ttdoc">Returns a formatted string representation of this World, as a conjunction of literals.</div><div class="ttdef"><b>Definition</b> <a href="World_8cpp_source.html#l00077">World.cpp:77</a></div></div>
<div class="ttc" id="anamespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div><div class="ttdoc">STL namespace.</div></div>
<div class="ttc" id="astructompl_1_1control_1_1Automaton_1_1TransitionMap_html"><div class="ttname"><a href="structompl_1_1control_1_1Automaton_1_1TransitionMap.html">ompl::control::Automaton::TransitionMap</a></div><div class="ttdoc">Each automaton state has a transition map, which maps from a World to another automaton state....</div><div class="ttdef"><b>Definition</b> <a href="Automaton_8h_source.html#l00077">Automaton.h:78</a></div></div>
<div class="ttc" id="astructompl_1_1control_1_1Automaton_1_1TransitionMap_html_aee7782bc90c0d9053e1af7494081c540"><div class="ttname"><a href="structompl_1_1control_1_1Automaton_1_1TransitionMap.html#aee7782bc90c0d9053e1af7494081c540">ompl::control::Automaton::TransitionMap::eval</a></div><div class="ttdeci">int eval(const World &w) const</div><div class="ttdoc">Returns the automaton state corresponding to a given World in this transition map....</div><div class="ttdef"><b>Definition</b> <a href="#l00057">Automaton.cpp:57</a></div></div>
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