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--></script> <div id="nav-path" class="navpath"> <ul> <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a> </li> <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a> </li> <li class="navelem"><a class="el" href="dir_40bc83a902349ad67ef9d1cb49964511.html">base</a> </li> <li class="navelem"><a class="el" href="dir_638c121d1114340bf3e84a5e9d67e9f2.html">src</a> </li> </ul> </div> </div> <div class="header"> <div class="headertitle"> <div class="title">DiscreteMotionValidator.cpp</div> </div> </div> <div class="contents"> <div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span> <a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span> <a name="l00003"></a>00003 <span class="comment">*</span> <a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span> <a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span> <a name="l00006"></a>00006 <span class="comment">*</span> <a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span> <a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span> <a name="l00009"></a>00009 <span class="comment">* are met:</span> <a name="l00010"></a>00010 <span class="comment">*</span> <a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span> <a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span> <a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span> <a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span> <a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span> <a name="l00016"></a>00016 <span class="comment">* with the distribution.</span> <a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span> <a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span> <a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span> <a name="l00020"></a>00020 <span class="comment">*</span> <a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span> <a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span> <a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span> <a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span> <a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span> <a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span> <a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span> <a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span> <a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span> <a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span> <a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span> <a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span> <a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span> <a name="l00034"></a>00034 <a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span> <a name="l00036"></a>00036 <a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/base/DiscreteMotionValidator.h"</span> <a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/util/Exception.h"</span> <a name="l00039"></a>00039 <span class="preprocessor">#include <queue></span> <a name="l00040"></a>00040 <a name="l00041"></a>00041 <span class="keywordtype">void</span> ompl::base::DiscreteMotionValidator::defaultSettings(<span class="keywordtype">void</span>) <a name="l00042"></a>00042 { <a name="l00043"></a>00043 stateSpace_ = <a class="code" href="classompl_1_1base_1_1MotionValidator.html#a2629e7715db18fd173b54392db71e4c0" title="The instance of space information this state validity checker operates on.">si_</a>->getStateSpace().get(); <a name="l00044"></a>00044 <span class="keywordflow">if</span> (!stateSpace_) <a name="l00045"></a>00045 <span class="keywordflow">throw</span> Exception(<span class="stringliteral">"No state space for motion validator"</span>); <a name="l00046"></a>00046 } <a name="l00047"></a>00047 <a name="l00048"></a><a class="code" href="classompl_1_1base_1_1DiscreteMotionValidator.html#a7ad5ee770bd60b4368ed780098877331">00048</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1DiscreteMotionValidator.html#a348eaada9bd63a377b65fc53ddeb0e2d" title="Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid...">ompl::base::DiscreteMotionValidator::checkMotion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s2, std::pair<State*, double> &lastValid)<span class="keyword"> const</span> <a name="l00049"></a>00049 <span class="keyword"></span>{ <a name="l00050"></a>00050 <span class="comment">/* assume motion starts in a valid configuration so s1 is valid */</span> <a name="l00051"></a>00051 <a name="l00052"></a>00052 <span class="keywordtype">bool</span> result = <span class="keyword">true</span>; <a name="l00053"></a>00053 <span class="keywordtype">int</span> nd = stateSpace_->validSegmentCount(s1, s2); <a name="l00054"></a>00054 <a name="l00055"></a>00055 <span class="keywordflow">if</span> (nd > 1) <a name="l00056"></a>00056 { <a name="l00057"></a>00057 <span class="comment">/* temporary storage for the checked state */</span> <a name="l00058"></a>00058 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *test = si_->allocState(); <a name="l00059"></a>00059 <a name="l00060"></a>00060 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 1 ; j < nd ; ++j) <a name="l00061"></a>00061 { <a name="l00062"></a>00062 stateSpace_->interpolate(s1, s2, (<span class="keywordtype">double</span>)j / (<span class="keywordtype">double</span>)nd, test); <a name="l00063"></a>00063 <span class="keywordflow">if</span> (!si_->isValid(test)) <a name="l00064"></a>00064 { <a name="l00065"></a>00065 lastValid.second = (double)(j - 1) / (double)nd; <a name="l00066"></a>00066 <span class="keywordflow">if</span> (lastValid.first) <a name="l00067"></a>00067 stateSpace_->interpolate(s1, s2, lastValid.second, lastValid.first); <a name="l00068"></a>00068 result = <span class="keyword">false</span>; <a name="l00069"></a>00069 <span class="keywordflow">break</span>; <a name="l00070"></a>00070 } <a name="l00071"></a>00071 } <a name="l00072"></a>00072 si_->freeState(test); <a name="l00073"></a>00073 } <a name="l00074"></a>00074 <a name="l00075"></a>00075 <span class="keywordflow">if</span> (result) <a name="l00076"></a>00076 <span class="keywordflow">if</span> (!si_->isValid(s2)) <a name="l00077"></a>00077 { <a name="l00078"></a>00078 lastValid.second = (double)(nd - 1) / (double)nd; <a name="l00079"></a>00079 <span class="keywordflow">if</span> (lastValid.first) <a name="l00080"></a>00080 stateSpace_->interpolate(s1, s2, lastValid.second, lastValid.first); <a name="l00081"></a>00081 result = <span class="keyword">false</span>; <a name="l00082"></a>00082 } <a name="l00083"></a>00083 <a name="l00084"></a>00084 <span class="keywordflow">if</span> (result) <a name="l00085"></a>00085 valid_++; <a name="l00086"></a>00086 <span class="keywordflow">else</span> <a name="l00087"></a>00087 invalid_++; <a name="l00088"></a>00088 <a name="l00089"></a>00089 <span class="keywordflow">return</span> result; <a name="l00090"></a>00090 } <a name="l00091"></a>00091 <a name="l00092"></a><a class="code" href="classompl_1_1base_1_1DiscreteMotionValidator.html#a348eaada9bd63a377b65fc53ddeb0e2d">00092</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1DiscreteMotionValidator.html#a348eaada9bd63a377b65fc53ddeb0e2d" title="Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid...">ompl::base::DiscreteMotionValidator::checkMotion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s2)<span class="keyword"> const</span> <a name="l00093"></a>00093 <span class="keyword"></span>{ <a name="l00094"></a>00094 <span class="comment">/* assume motion starts in a valid configuration so s1 is valid */</span> <a name="l00095"></a>00095 <span class="keywordflow">if</span> (!si_->isValid(s2)) <a name="l00096"></a>00096 <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00097"></a>00097 <a name="l00098"></a>00098 <span class="keywordtype">bool</span> result = <span class="keyword">true</span>; <a name="l00099"></a>00099 <span class="keywordtype">int</span> nd = stateSpace_->validSegmentCount(s1, s2); <a name="l00100"></a>00100 <a name="l00101"></a>00101 <span class="comment">/* initialize the queue of test positions */</span> <a name="l00102"></a>00102 std::queue< std::pair<int, int> > pos; <a name="l00103"></a>00103 <span class="keywordflow">if</span> (nd >= 2) <a name="l00104"></a>00104 { <a name="l00105"></a>00105 pos.push(std::make_pair(1, nd - 1)); <a name="l00106"></a>00106 <a name="l00107"></a>00107 <span class="comment">/* temporary storage for the checked state */</span> <a name="l00108"></a>00108 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *test = si_->allocState(); <a name="l00109"></a>00109 <a name="l00110"></a>00110 <span class="comment">/* repeatedly subdivide the path segment in the middle (and check the middle) */</span> <a name="l00111"></a>00111 <span class="keywordflow">while</span> (!pos.empty()) <a name="l00112"></a>00112 { <a name="l00113"></a>00113 std::pair<int, int> x = pos.front(); <a name="l00114"></a>00114 <a name="l00115"></a>00115 <span class="keywordtype">int</span> mid = (x.first + x.second) / 2; <a name="l00116"></a>00116 stateSpace_->interpolate(s1, s2, (<span class="keywordtype">double</span>)mid / (<span class="keywordtype">double</span>)nd, test); <a name="l00117"></a>00117 <a name="l00118"></a>00118 <span class="keywordflow">if</span> (!si_->isValid(test)) <a name="l00119"></a>00119 { <a name="l00120"></a>00120 result = <span class="keyword">false</span>; <a name="l00121"></a>00121 <span class="keywordflow">break</span>; <a name="l00122"></a>00122 } <a name="l00123"></a>00123 <a name="l00124"></a>00124 pos.pop(); <a name="l00125"></a>00125 <a name="l00126"></a>00126 <span class="keywordflow">if</span> (x.first < mid) <a name="l00127"></a>00127 pos.push(std::make_pair(x.first, mid - 1)); <a name="l00128"></a>00128 <span class="keywordflow">if</span> (x.second > mid) <a name="l00129"></a>00129 pos.push(std::make_pair(mid + 1, x.second)); <a name="l00130"></a>00130 } <a name="l00131"></a>00131 <a name="l00132"></a>00132 si_->freeState(test); <a name="l00133"></a>00133 } <a name="l00134"></a>00134 <a name="l00135"></a>00135 <span class="keywordflow">if</span> (result) <a name="l00136"></a>00136 valid_++; <a name="l00137"></a>00137 <span class="keywordflow">else</span> <a name="l00138"></a>00138 invalid_++; <a name="l00139"></a>00139 <a name="l00140"></a>00140 <span class="keywordflow">return</span> result; <a name="l00141"></a>00141 } </pre></div></div> </div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="javascript:void(0)" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> </div> <div class="footer span-22 push-2 last"> <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> • <a href="http://www.cs.rice.edu">Department of Computer Science</a> • <a href="http://www.rice.edu">Rice University</a><br> <div class="gray">Generated on Sun Oct 9 2011 23:04:29 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>