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<div class="title">SE2StateSpace.cpp</div> </div>
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<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/spaces/SE2StateSpace.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/tools/config/MagicConstants.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <cstring></span>
<a name="l00040"></a>00040
<a name="l00041"></a><a class="code" href="classompl_1_1base_1_1SE2StateSpace.html#a97ed18c18723e3cbbb637d93b60338e9">00041</a> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ompl::base::State</a>* <a class="code" href="classompl_1_1base_1_1SE2StateSpace.html#a97ed18c18723e3cbbb637d93b60338e9" title="Allocate a state that can store a point in the described space.">ompl::base::SE2StateSpace::allocState</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00042"></a>00042 <span class="keyword"></span>{
<a name="l00043"></a>00043 <a class="code" href="classompl_1_1base_1_1SE2StateSpace_1_1StateType.html" title="A state in SE(2): (x, y, yaw)">StateType</a> *state = <span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">StateType</a>();
<a name="l00044"></a>00044 <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a1486c4680ec6e01c579fba2b3614d137" title="Allocate the state components. Called by allocState(). Usually called by derived state spaces...">allocStateComponents</a>(state);
<a name="l00045"></a>00045 <span class="keywordflow">return</span> state;
<a name="l00046"></a>00046 }
<a name="l00047"></a>00047
<a name="l00048"></a><a class="code" href="classompl_1_1base_1_1SE2StateSpace.html#a30c9a7a7c43ceb1a57c27e784d1501ea">00048</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE2StateSpace.html#a30c9a7a7c43ceb1a57c27e784d1501ea" title="Free the memory of the allocated state.">ompl::base::SE2StateSpace::freeState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00049"></a>00049 <span class="keyword"></span>{
<a name="l00050"></a>00050 <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a891f9acb430b0486043efd4be95776bd" title="Free the memory of the allocated state.">CompoundStateSpace::freeState</a>(state);
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="classompl_1_1base_1_1SE2StateSpace.html#a41a388f3501e7b6b6e74ac310bd9061b">00053</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE2StateSpace.html#a41a388f3501e7b6b6e74ac310bd9061b" title="Register the projections for this state space. Usually, this is at least the default projection...">ompl::base::SE2StateSpace::registerProjections</a>(<span class="keywordtype">void</span>)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="keyword">class </span>SE2DefaultProjection : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 <span class="keyword">public</span>:
<a name="l00058"></a>00058
<a name="l00059"></a>00059 SE2DefaultProjection(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space) : <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>(space)
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getDimension(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00064"></a>00064 <span class="keyword"> </span>{
<a name="l00065"></a>00065 <span class="keywordflow">return</span> 2;
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keyword">virtual</span> <span class="keywordtype">void</span> defaultCellSizes(<span class="keywordtype">void</span>)
<a name="l00069"></a>00069 {
<a name="l00070"></a>00070 cellSizes_.resize(2);
<a name="l00071"></a>00071 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">RealVectorBounds</a> &b = space_->as<<a class="code" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">SE2StateSpace</a>>()->getBounds();
<a name="l00072"></a>00072 cellSizes_[0] = (b.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a06827561804a768d6ee86a20a664153c" title="Upper bound.">high</a>[0] - b.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a36ebebb6a9e116093581afbd07425baa" title="Lower bound.">low</a>[0]) / <a class="code" href="namespaceompl_1_1magic.html#a89c2a3791d4d4579c36593a70f00588d" title="When the cell sizes for a projection are automatically computed, this value defines the number of par...">magic::PROJECTION_DIMENSION_SPLITS</a>;
<a name="l00073"></a>00073 cellSizes_[1] = (b.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a06827561804a768d6ee86a20a664153c" title="Upper bound.">high</a>[1] - b.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a36ebebb6a9e116093581afbd07425baa" title="Lower bound.">low</a>[1]) / <a class="code" href="namespaceompl_1_1magic.html#a89c2a3791d4d4579c36593a70f00588d" title="When the cell sizes for a projection are automatically computed, this value defines the number of par...">magic::PROJECTION_DIMENSION_SPLITS</a>;
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="keyword">virtual</span> <span class="keywordtype">void</span> project(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &projection)<span class="keyword"> const</span>
<a name="l00077"></a>00077 <span class="keyword"> </span>{
<a name="l00078"></a>00078 memcpy(&projection(0), state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SE2StateSpace_1_1StateType.html" title="A state in SE(2): (x, y, yaw)">SE2StateSpace::StateType</a>>()-><a class="code" href="classompl_1_1base_1_1CompoundState.html#ae51035c1a4c69165f2688d252b527ba7" title="Cast a component of this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html" title="The definition of a state in Rn">RealVectorStateSpace::StateType</a>>(0)-><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498" title="The value of the actual vector in Rn">values</a>, 2 * <span class="keyword">sizeof</span>(<span class="keywordtype">double</span>));
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 };
<a name="l00081"></a>00081
<a name="l00082"></a>00082 registerDefaultProjection(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">ProjectionEvaluatorPtr</a>(dynamic_cast<ProjectionEvaluator*>(<span class="keyword">new</span> SE2DefaultProjection(<span class="keyword">this</span>))));
<a name="l00083"></a>00083 }
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