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<div class="title">SpaceInformation.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/control/SpaceInformation.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 <cassert></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <utility></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <limits></span>
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa83596fa5f602e87ae7f0f82a3602415">00043</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa83596fa5f602e87ae7f0f82a3602415" title="Perform additional setup tasks (run once, before use)">ompl::control::SpaceInformation::setup</a>(<span class="keywordtype">void</span>)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa83596fa5f602e87ae7f0f82a3602415" title="Perform additional setup tasks (run once, before use)">base::SpaceInformation::setup</a>();
<a name="l00046"></a>00046 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#adece5657085df810c3f4383b3ea89120" title="The state propagator used to model the motion of the system being planned for.">statePropagator_</a>)
<a name="l00047"></a>00047 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"State propagator not defined"</span>);
<a name="l00048"></a>00048 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a> > <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2" title="The maximum number of steps to apply a control for.">maxSteps_</a>)
<a name="l00049"></a>00049 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"The minimum number of steps cannot be larger than the maximum number of steps"</span>);
<a name="l00050"></a>00050 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a> == 0 && <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2" title="The maximum number of steps to apply a control for.">maxSteps_</a> == 0)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a> = 1;
<a name="l00053"></a>00053 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2" title="The maximum number of steps to apply a control for.">maxSteps_</a> = 10;
<a name="l00054"></a>00054 <a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a75472118296827164214bb40c2f9b960" title="The console interface.">msg_</a>.<a class="code" href="classompl_1_1msg_1_1Interface.html#a15876ea668c0bf423cc416d96526fa18" title="Forward a warning.">warn</a>(<span class="stringliteral">"Assuming propagation will always have between %d and %d steps"</span>, <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a>, <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2" title="The maximum number of steps to apply a control for.">maxSteps_</a>);
<a name="l00055"></a>00055 }
<a name="l00056"></a>00056 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a> < 1)
<a name="l00057"></a>00057 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"The minimum number of steps must be at least 1"</span>);
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7" title="The actual duration of each step.">stepSize_</a> < std::numeric_limits<double>::epsilon())
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7" title="The actual duration of each step.">stepSize_</a> = <a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a41910a9525c7d88a64147af4f2bb35bc" title="Get the resolution at which state validity is verified. This call is only applicable if a ompl::base:...">getStateValidityCheckingResolution</a>() * <a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a1bc9d650c9e571dbc124e1c7761bce9e" title="Get the maximum extent of the space we are planning in. This is the maximum distance that could be re...">getMaximumExtent</a>();
<a name="l00062"></a>00062 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7" title="The actual duration of each step.">stepSize_</a> < std::numeric_limits<double>::epsilon())
<a name="l00063"></a>00063 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"The propagation step size must be larger than 0"</span>);
<a name="l00064"></a>00064 <a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a75472118296827164214bb40c2f9b960" title="The console interface.">msg_</a>.<a class="code" href="classompl_1_1msg_1_1Interface.html#a15876ea668c0bf423cc416d96526fa18" title="Forward a warning.">warn</a>(<span class="stringliteral">"The propagation step size is assumed to be %f"</span>, <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7" title="The actual duration of each step.">stepSize_</a>);
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066
<a name="l00067"></a>00067 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->setup();
<a name="l00068"></a>00068 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->getDimension() <= 0)
<a name="l00069"></a>00069 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"The dimension of the control space we plan in must be > 0"</span>);
<a name="l00070"></a>00070 }
<a name="l00071"></a>00071
<a name="l00072"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a701c9be56b69d156708f3f05aa580389">00072</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a701c9be56b69d156708f3f05aa580389" title="Set the function that performs state propagation.">ompl::control::SpaceInformation::setStatePropagator</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1control.html#acce331fefa24a5f76ce796c391090068" title="A function that achieves state propagation.">StatePropagatorFn</a> &fn)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <span class="keyword">class </span>BoostFnStatePropagator : <span class="keyword">public</span> <a class="code" href="classompl_1_1control_1_1StatePropagator.html">StatePropagator</a>
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <span class="keyword">public</span>:
<a name="l00077"></a>00077
<a name="l00078"></a>00078 BoostFnStatePropagator(<a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a> *si, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1control.html#acce331fefa24a5f76ce796c391090068" title="A function that achieves state propagation.">StatePropagatorFn</a> &fn) : <a class="code" href="classompl_1_1control_1_1StatePropagator.html">StatePropagator</a>(si), fn_(fn)
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="keyword">virtual</span> <span class="keywordtype">void</span> propagate(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keyword">const</span> <span class="keywordtype">double</span> duration, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *result)<span class="keyword"> const</span>
<a name="l00083"></a>00083 <span class="keyword"> </span>{
<a name="l00084"></a>00084 fn_(state, control, duration, result);
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="keyword">protected</span>:
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <a class="code" href="namespaceompl_1_1control.html#acce331fefa24a5f76ce796c391090068" title="A function that achieves state propagation.">StatePropagatorFn</a> fn_;
<a name="l00090"></a>00090
<a name="l00091"></a>00091 };
<a name="l00092"></a>00092
<a name="l00093"></a>00093 setStatePropagator(StatePropagatorPtr(dynamic_cast<StatePropagator*>(<span class="keyword">new</span> BoostFnStatePropagator(<span class="keyword">this</span>, fn))));
<a name="l00094"></a>00094 }
<a name="l00095"></a>00095
<a name="l00096"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c1713628e1d52e2ed74a0c5de6b83a5">00096</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a701c9be56b69d156708f3f05aa580389" title="Set the function that performs state propagation.">ompl::control::SpaceInformation::setStatePropagator</a>(<span class="keyword">const</span> StatePropagatorPtr &sp)
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 statePropagator_ = sp;
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100
<a name="l00101"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a75e844309eab68866485fc41d942e496">00101</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a75e844309eab68866485fc41d942e496" title="Some systems can only propagate forward in time (i.e., the steps argument for the propagate() functio...">ompl::control::SpaceInformation::canPropagateBackward</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00102"></a>00102 <span class="keyword"></span>{
<a name="l00103"></a>00103 <span class="keywordflow">return</span> statePropagator_->canPropagateBackward();
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105
<a name="l00106"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aaa5d0c18ae3453704bff0bcd7c840094">00106</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aaa5d0c18ae3453704bff0bcd7c840094" title="Propagate the model of the system forward, starting a a given state, with a given control...">ompl::control::SpaceInformation::propagate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">int</span> steps, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *result)<span class="keyword"> const</span>
<a name="l00107"></a>00107 <span class="keyword"></span>{
<a name="l00108"></a>00108 <span class="keywordflow">if</span> (steps == 0)
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 <span class="keywordflow">if</span> (result != state)
<a name="l00111"></a>00111 copyState(result, state);
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113 <span class="keywordflow">else</span>
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115 <span class="keywordtype">double</span> signedStepSize = steps > 0 ? stepSize_ : -stepSize_;
<a name="l00116"></a>00116 steps = abs(steps);
<a name="l00117"></a>00117
<a name="l00118"></a>00118 statePropagator_->propagate(state, control, signedStepSize, result);
<a name="l00119"></a>00119 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1 ; i < steps ; ++i)
<a name="l00120"></a>00120 statePropagator_->propagate(result, control, signedStepSize, result);
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123
<a name="l00124"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a62706721769680c1aafa41aa368406c7">00124</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a62706721769680c1aafa41aa368406c7" title="Propagate the model of the system forward, starting at a given state, with a given control...">ompl::control::SpaceInformation::propagateWhileValid</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">int</span> steps, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *result)<span class="keyword"> const</span>
<a name="l00125"></a>00125 <span class="keyword"></span>{
<a name="l00126"></a>00126 <span class="keywordflow">if</span> (steps == 0)
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 <span class="keywordflow">if</span> (result != state)
<a name="l00129"></a>00129 copyState(result, state);
<a name="l00130"></a>00130 <span class="keywordflow">return</span> 0;
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <span class="keywordtype">double</span> signedStepSize = steps > 0 ? stepSize_ : -stepSize_;
<a name="l00134"></a>00134 steps = abs(steps);
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">// perform the first step of propagation</span>
<a name="l00137"></a>00137 statePropagator_->propagate(state, control, signedStepSize, result);
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="comment">// if we found a valid state after one step, we can go on</span>
<a name="l00140"></a>00140 <span class="keywordflow">if</span> (isValid(result))
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *temp1 = result;
<a name="l00143"></a>00143 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *temp2 = allocState();
<a name="l00144"></a>00144 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *toDelete = temp2;
<a name="l00145"></a>00145 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> r = steps;
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment">// for the remaining number of steps</span>
<a name="l00148"></a>00148 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1 ; i < steps ; ++i)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 statePropagator_->propagate(temp1, control, signedStepSize, temp2);
<a name="l00151"></a>00151 <span class="keywordflow">if</span> (isValid(temp2))
<a name="l00152"></a>00152 std::swap(temp1, temp2);
<a name="l00153"></a>00153 <span class="keywordflow">else</span>
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 <span class="comment">// the last valid state is temp1;</span>
<a name="l00156"></a>00156 r = i;
<a name="l00157"></a>00157 <span class="keywordflow">break</span>;
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment">// if we finished the for-loop without finding an invalid state, the last valid state is temp1</span>
<a name="l00162"></a>00162 <span class="comment">// make sure result contains that information</span>
<a name="l00163"></a>00163 <span class="keywordflow">if</span> (result != temp1)
<a name="l00164"></a>00164 copyState(result, temp1);
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="comment">// free the temporary memory</span>
<a name="l00167"></a>00167 freeState(toDelete);
<a name="l00168"></a>00168
<a name="l00169"></a>00169 <span class="keywordflow">return</span> r;
<a name="l00170"></a>00170 }
<a name="l00171"></a>00171 <span class="comment">// if the first propagation step produced an invalid step, return 0 steps</span>
<a name="l00172"></a>00172 <span class="comment">// the last valid state is the starting one (assumed to be valid)</span>
<a name="l00173"></a>00173 <span class="keywordflow">else</span>
<a name="l00174"></a>00174 {
<a name="l00175"></a>00175 <span class="keywordflow">if</span> (result != state)
<a name="l00176"></a>00176 copyState(result, state);
<a name="l00177"></a>00177 <span class="keywordflow">return</span> 0;
<a name="l00178"></a>00178 }
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180
<a name="l00181"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3d9930ec96f38bc58dbe3ba840f85c46">00181</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aaa5d0c18ae3453704bff0bcd7c840094" title="Propagate the model of the system forward, starting a a given state, with a given control...">ompl::control::SpaceInformation::propagate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">int</span> steps, std::vector<base::State*> &result, <span class="keywordtype">bool</span> alloc)<span class="keyword"> const</span>
<a name="l00182"></a>00182 <span class="keyword"></span>{
<a name="l00183"></a>00183 <span class="keywordtype">double</span> signedStepSize = steps > 0 ? stepSize_ : -stepSize_;
<a name="l00184"></a>00184 steps = abs(steps);
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keywordflow">if</span> (alloc)
<a name="l00187"></a>00187 {
<a name="l00188"></a>00188 result.resize(steps);
<a name="l00189"></a>00189 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < result.size() ; ++i)
<a name="l00190"></a>00190 result[i] = allocState();
<a name="l00191"></a>00191 }
<a name="l00192"></a>00192 <span class="keywordflow">else</span>
<a name="l00193"></a>00193 {
<a name="l00194"></a>00194 <span class="keywordflow">if</span> (result.empty())
<a name="l00195"></a>00195 <span class="keywordflow">return</span>;
<a name="l00196"></a>00196 steps = std::min(steps, (<span class="keywordtype">int</span>)result.size());
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198
<a name="l00199"></a>00199 <span class="keywordtype">int</span> st = 0;
<a name="l00200"></a>00200
<a name="l00201"></a>00201 <span class="keywordflow">if</span> (st < steps)
<a name="l00202"></a>00202 {
<a name="l00203"></a>00203 statePropagator_->propagate(state, control, signedStepSize, result[st]);
<a name="l00204"></a>00204 ++st;
<a name="l00205"></a>00205
<a name="l00206"></a>00206 <span class="keywordflow">while</span> (st < steps)
<a name="l00207"></a>00207 {
<a name="l00208"></a>00208 statePropagator_->propagate(result[st-1], control, signedStepSize, result[st]);
<a name="l00209"></a>00209 ++st;
<a name="l00210"></a>00210 }
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212 }
<a name="l00213"></a>00213
<a name="l00214"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#af9d37fe9c3b7aefe8a11d3b52ec39c99">00214</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a62706721769680c1aafa41aa368406c7" title="Propagate the model of the system forward, starting at a given state, with a given control...">ompl::control::SpaceInformation::propagateWhileValid</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">int</span> steps, std::vector<base::State*> &result, <span class="keywordtype">bool</span> alloc)<span class="keyword"> const</span>
<a name="l00215"></a>00215 <span class="keyword"></span>{
<a name="l00216"></a>00216 <span class="keywordtype">double</span> signedStepSize = steps > 0 ? stepSize_ : -stepSize_;
<a name="l00217"></a>00217 steps = abs(steps);
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="keywordflow">if</span> (alloc)
<a name="l00220"></a>00220 result.resize(steps);
<a name="l00221"></a>00221 <span class="keywordflow">else</span>
<a name="l00222"></a>00222 {
<a name="l00223"></a>00223 <span class="keywordflow">if</span> (result.empty())
<a name="l00224"></a>00224 <span class="keywordflow">return</span> 0;
<a name="l00225"></a>00225 steps = std::min(steps, (<span class="keywordtype">int</span>)result.size());
<a name="l00226"></a>00226 }
<a name="l00227"></a>00227
<a name="l00228"></a>00228 <span class="keywordtype">int</span> st = 0;
<a name="l00229"></a>00229
<a name="l00230"></a>00230 <span class="keywordflow">if</span> (st < steps)
<a name="l00231"></a>00231 {
<a name="l00232"></a>00232 <span class="keywordflow">if</span> (alloc)
<a name="l00233"></a>00233 result[st] = allocState();
<a name="l00234"></a>00234 statePropagator_->propagate(state, control, signedStepSize, result[st]);
<a name="l00235"></a>00235
<a name="l00236"></a>00236 <span class="keywordflow">if</span> (isValid(result[st]))
<a name="l00237"></a>00237 {
<a name="l00238"></a>00238 ++st;
<a name="l00239"></a>00239 <span class="keywordflow">while</span> (st < steps)
<a name="l00240"></a>00240 {
<a name="l00241"></a>00241 <span class="keywordflow">if</span> (alloc)
<a name="l00242"></a>00242 result[st] = allocState();
<a name="l00243"></a>00243 statePropagator_->propagate(result[st-1], control, signedStepSize, result[st]);
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="keywordflow">if</span> (!isValid(result[st]))
<a name="l00246"></a>00246 {
<a name="l00247"></a>00247 <span class="keywordflow">if</span> (alloc)
<a name="l00248"></a>00248 {
<a name="l00249"></a>00249 freeState(result[st]);
<a name="l00250"></a>00250 result.resize(st);
<a name="l00251"></a>00251 }
<a name="l00252"></a>00252 <span class="keywordflow">break</span>;
<a name="l00253"></a>00253 }
<a name="l00254"></a>00254 <span class="keywordflow">else</span>
<a name="l00255"></a>00255 ++st;
<a name="l00256"></a>00256 }
<a name="l00257"></a>00257 }
<a name="l00258"></a>00258 <span class="keywordflow">else</span>
<a name="l00259"></a>00259 {
<a name="l00260"></a>00260 <span class="keywordflow">if</span> (alloc)
<a name="l00261"></a>00261 {
<a name="l00262"></a>00262 freeState(result[st]);
<a name="l00263"></a>00263 result.resize(st);
<a name="l00264"></a>00264 }
<a name="l00265"></a>00265 }
<a name="l00266"></a>00266 }
<a name="l00267"></a>00267
<a name="l00268"></a>00268 <span class="keywordflow">return</span> st;
<a name="l00269"></a>00269 }
<a name="l00270"></a>00270
<a name="l00271"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3d755d5768314b1b0e3a14fc518ddc74">00271</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3d755d5768314b1b0e3a14fc518ddc74" title="Print information about the current instance of the state space.">ompl::control::SpaceInformation::printSettings</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00272"></a>00272 <span class="keyword"></span>{
<a name="l00273"></a>00273 <a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a9887f6b2810e5d3befa9a7b886b5b4dd" title="Print information about the current instance of the state space.">base::SpaceInformation::printSettings</a>(out);
<a name="l00274"></a>00274 out << <span class="stringliteral">" - control space:"</span> << std::endl;
<a name="l00275"></a>00275 controlSpace_->printSettings(out);
<a name="l00276"></a>00276 out << <span class="stringliteral">" - can propagate backward: "</span> << (canPropagateBackward() ? <span class="stringliteral">"yes"</span> : <span class="stringliteral">"no"</span>) << std::endl;
<a name="l00277"></a>00277 out << <span class="stringliteral">" - propagation step size: "</span> << stepSize_ << std::endl;
<a name="l00278"></a>00278 out << <span class="stringliteral">" - propagation duration: ["</span> << minSteps_ << <span class="stringliteral">", "</span> << maxSteps_ << <span class="stringliteral">"]"</span> << std::endl;
<a name="l00279"></a>00279 }
</pre></div></div>
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