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TimeStateSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/TimeStateSpace.h"
38 #include "ompl/util/Exception.h"
39 #include "ompl/tools/config/MagicConstants.h"
40 #include <limits>
41 
43 {
44  if (space_->as<TimeStateSpace>()->isBounded())
46  space_->as<TimeStateSpace>()->getMaxTimeBound());
47  else
48  state->as<TimeStateSpace::StateType>()->position = 0.0;
49 }
50 
51 void ompl::base::TimeStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
52 {
53  state->as<TimeStateSpace::StateType>()->position =
54  rng_.uniformReal(near->as<TimeStateSpace::StateType>()->position - distance,
55  near->as<TimeStateSpace::StateType>()->position + distance);
56  space_->enforceBounds(state);
57 }
58 
59 void ompl::base::TimeStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
60 {
61  state->as<TimeStateSpace::StateType>()->position =
62  rng_.gaussian(mean->as<TimeStateSpace::StateType>()->position, stdDev);
63  space_->enforceBounds(state);
64 }
65 
67 {
68  return 1;
69 }
70 
71 void ompl::base::TimeStateSpace::setBounds(double minTime, double maxTime)
72 {
73  if (minTime > maxTime)
74  throw Exception("The maximum position in time cannot be before the minimum position in time");
75 
76  minTime_ = minTime;
77  maxTime_ = maxTime;
78  bounded_ = true;
79 }
80 
82 {
83  return bounded_ ? maxTime_ - minTime_ : 1.0;
84 }
85 
87 {
88  if (bounded_)
89  {
90  if (state->as<StateType>()->position > maxTime_)
91  state->as<StateType>()->position = maxTime_;
92  else
93  if (state->as<StateType>()->position < minTime_)
94  state->as<StateType>()->position = minTime_;
95  }
96 }
97 
99 {
100  return !bounded_ || (state->as<StateType>()->position >= minTime_ - std::numeric_limits<double>::epsilon() &&
101  state->as<StateType>()->position <= maxTime_ + std::numeric_limits<double>::epsilon());
102 }
103 
104 void ompl::base::TimeStateSpace::copyState(State *destination, const State *source) const
105 {
106  destination->as<StateType>()->position = source->as<StateType>()->position;
107 }
108 
110 {
111  return sizeof(double);
112 }
113 
114 void ompl::base::TimeStateSpace::serialize(void *serialization, const State *state) const
115 {
116  memcpy(serialization, &state->as<StateType>()->position, sizeof(double));
117 }
118 
119 void ompl::base::TimeStateSpace::deserialize(State *state, const void *serialization) const
120 {
121  memcpy(&state->as<StateType>()->position, serialization, sizeof(double));
122 }
123 
124 double ompl::base::TimeStateSpace::distance(const State *state1, const State *state2) const
125 {
126  return fabs(state1->as<StateType>()->position - state2->as<StateType>()->position);
127 }
128 
129 bool ompl::base::TimeStateSpace::equalStates(const State *state1, const State *state2) const
130 {
131  return fabs(state1->as<StateType>()->position - state2->as<StateType>()->position) < std::numeric_limits<double>::epsilon() * 2.0;
132 }
133 
134 void ompl::base::TimeStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
135 {
136  state->as<StateType>()->position = from->as<StateType>()->position +
137  (to->as<StateType>()->position - from->as<StateType>()->position) * t;
138 }
139 
141 {
142  return StateSamplerPtr(new TimeStateSampler(this));
143 }
144 
146 {
147  return new StateType();
148 }
149 
151 {
152  delete static_cast<StateType*>(state);
153 }
154 
156 {
157  class TimeDefaultProjection : public ProjectionEvaluator
158  {
159  public:
160 
161  TimeDefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
162  {
163  }
164 
165  virtual unsigned int getDimension(void) const
166  {
167  return 1;
168  }
169 
170  virtual void defaultCellSizes(void)
171  {
172  cellSizes_.resize(1);
173  if (space_->as<TimeStateSpace>()->isBounded())
174  {
175  bounds_.resize(1);
176  bounds_.low[0] = space_->as<TimeStateSpace>()->getMinTimeBound();
177  bounds_.high[0] = space_->as<TimeStateSpace>()->getMaxTimeBound();
178  cellSizes_[0] = bounds_.getDifference()[0] / magic::PROJECTION_DIMENSION_SPLITS;
179  }
180  else
181  cellSizes_[0] = 1.0;
182  }
183 
184  virtual void project(const State *state, EuclideanProjection &projection) const
185  {
186  projection(0) = state->as<TimeStateSpace::StateType>()->position;
187  }
188  };
189 
190  registerDefaultProjection(ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(new TimeDefaultProjection(this))));
191 }
192 
193 double* ompl::base::TimeStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
194 {
195  return index == 0 ? &(state->as<StateType>()->position) : NULL;
196 }
197 
198 void ompl::base::TimeStateSpace::printState(const State *state, std::ostream &out) const
199 {
200  out << "TimeState [";
201  if (state)
202  out << state->as<StateType>()->position;
203  else
204  out << "NULL";
205  out << ']' << std::endl;
206 }
207 
208 void ompl::base::TimeStateSpace::printSettings(std::ostream &out) const
209 {
210  out << "Time state space '" << getName() << "'" << std::endl;
211 }
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
const StateSpace * space_
The state space this sampler samples.
Definition: StateSampler.h:91
virtual void freeState(State *state) const
Free the memory of the allocated state.
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void enforceBounds(State *state) const
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
A boost shared pointer wrapper for ompl::base::StateSampler.
RNG rng_
An instance of a random number generator.
Definition: StateSampler.h:94
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
bool isBounded(void) const
Check if the time is bounded or not.
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
The definition of a time state.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
const T * as(void) const
Cast this instance to a desired type.
Definition: State.h:74
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
double getMinTimeBound(void) const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:68
State space sampler for time.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual double * getValueAddressAtIndex(State *state, const unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition of an abstract state.
Definition: State.h:50
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
The exception type for ompl.
Definition: Exception.h:47
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
virtual void sampleUniform(State *state)
Sample a state.
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
double position
The position in time.
T * as(void)
Cast this instance to a desired type.
Definition: StateSpace.h:87
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.