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<div class="title">ODEEnvironment.h</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">#ifndef OMPL_EXTENSION_ODE_ENVIRONMENT_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_EXTENSION_ODE_ENVIRONMENT_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/config.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#if OMPL_EXTENSION_ODE == 0</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor"># error ODE extension not built</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span>
<a name="l00045"></a>00045 <span class="preprocessor">#include "ompl/util/ClassForward.h"</span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="preprocessor">#include <ode/ode.h></span>
<a name="l00048"></a>00048 <span class="preprocessor">#include <vector></span>
<a name="l00049"></a>00049 <span class="preprocessor">#include <string></span>
<a name="l00050"></a>00050 <span class="preprocessor">#include <map></span>
<a name="l00051"></a>00051 <span class="preprocessor">#include <boost/thread/mutex.hpp></span>
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="keyword">namespace </span>ompl
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="keyword">namespace </span>control
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057
<a name="l00059"></a>00059 <a class="code" href="namespaceompl_1_1control.html#ae088c975568ca449b3d53f626c491513" title="Forward declaration of ompl::control::ControlSpace.">ClassForward</a>(ODEEnvironment);
<a name="l00060"></a>00060
<a name="l00065"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html">00065</a> <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html" title="This class contains the ODE constructs OMPL needs to know about when planning.">ODEEnvironment</a>
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keyword">public</span>:
<a name="l00068"></a>00068
<a name="l00070"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a963d0d057d2b588d594051b42292ffc6">00070</a> dWorldID <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a963d0d057d2b588d594051b42292ffc6" title="The ODE world where the simulation is performed.">world_</a>;
<a name="l00071"></a>00071
<a name="l00073"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ac0eba2a3d6bb57f365878c70c7f30f00">00073</a> std::vector<dSpaceID> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ac0eba2a3d6bb57f365878c70c7f30f00" title="The set of spaces where contacts need to be evaluated before simulation takes place.">collisionSpaces_</a>;
<a name="l00074"></a>00074
<a name="l00078"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#aa72f756a8a9078e4318ac99b8b5e071a">00078</a> std::vector<dBodyID> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#aa72f756a8a9078e4318ac99b8b5e071a" title="The set of bodies that need to be considered part of the state when planning. This is not necessarily...">stateBodies_</a>;
<a name="l00079"></a>00079
<a name="l00081"></a>00081 std::map<dGeomID, std::string>
<a name="l00082"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a5cfcd1480c34a4b1b53545b6619c4400">00082</a> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a5cfcd1480c34a4b1b53545b6619c4400" title="Optional map of names given to geoms. This is useful when collision checking is verbose.">geomNames_</a>;
<a name="l00083"></a>00083
<a name="l00085"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#aa4ba29fa6f1a76e2a8e7439e9523f046">00085</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#aa4ba29fa6f1a76e2a8e7439e9523f046" title="Issue debug messages when contacts are found. Default is false. This should only be used for debuggin...">verboseContacts_</a>;
<a name="l00086"></a>00086
<a name="l00088"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a8955f21ea18d0bd1037608de29f32e6b">00088</a> dJointGroupID <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a8955f21ea18d0bd1037608de29f32e6b" title="The group of joints where contacts are created.">contactGroup_</a>;
<a name="l00089"></a>00089
<a name="l00091"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ac41b8cd93bfc8d8448ca8cd08649454a">00091</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ac41b8cd93bfc8d8448ca8cd08649454a" title="The maximum number of contacts to create between two bodies when a collision occurs.">maxContacts_</a>;
<a name="l00092"></a>00092
<a name="l00094"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ac6032bec24d39ca426f647c0fc4a82fc">00094</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ac6032bec24d39ca426f647c0fc4a82fc" title="The simulation step size.">stepSize_</a>;
<a name="l00095"></a>00095
<a name="l00097"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#abc3b955163e4707c0164b4e43b0509cc">00097</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#abc3b955163e4707c0164b4e43b0509cc" title="The maximum number of times a control is applies in sequence.">maxControlSteps_</a>;
<a name="l00098"></a>00098
<a name="l00100"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#af5578355917aff91e7656d0bc2de7c4b">00100</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#af5578355917aff91e7656d0bc2de7c4b" title="The minimum number of times a control is applies in sequence.">minControlSteps_</a>;
<a name="l00101"></a>00101
<a name="l00103"></a><a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a4ef75187c77c26d167603e3b3d907ce9">00103</a> <span class="keyword">mutable</span> boost::mutex <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a4ef75187c77c26d167603e3b3d907ce9" title="Lock to use when performing simulations in the world. (ODE simulations are NOT thread safe)...">mutex_</a>;
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html" title="This class contains the ODE constructs OMPL needs to know about when planning.">ODEEnvironment</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a963d0d057d2b588d594051b42292ffc6" title="The ODE world where the simulation is performed.">world_</a>(NULL), <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#aa4ba29fa6f1a76e2a8e7439e9523f046" title="Issue debug messages when contacts are found. Default is false. This should only be used for debuggin...">verboseContacts_</a>(false), <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ac41b8cd93bfc8d8448ca8cd08649454a" title="The maximum number of contacts to create between two bodies when a collision occurs.">maxContacts_</a>(3), <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ac6032bec24d39ca426f647c0fc4a82fc" title="The simulation step size.">stepSize_</a>(0.05), <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#abc3b955163e4707c0164b4e43b0509cc" title="The maximum number of times a control is applies in sequence.">maxControlSteps_</a>(100), <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#af5578355917aff91e7656d0bc2de7c4b" title="The minimum number of times a control is applies in sequence.">minControlSteps_</a>(5)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a8955f21ea18d0bd1037608de29f32e6b" title="The group of joints where contacts are created.">contactGroup_</a> = dJointGroupCreate(0);
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1ODEEnvironment.html" title="This class contains the ODE constructs OMPL needs to know about when planning.">ODEEnvironment</a>(<span class="keywordtype">void</span>)
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a8955f21ea18d0bd1037608de29f32e6b" title="The group of joints where contacts are created.">contactGroup_</a>)
<a name="l00113"></a>00113 dJointGroupDestroy(<a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a8955f21ea18d0bd1037608de29f32e6b" title="The group of joints where contacts are created.">contactGroup_</a>);
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00117"></a>00117 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#affbd44a3a8f3b0ee9bab101dd6118882" title="Number of parameters (double values) needed to specify a control input.">getControlDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;
<a name="l00118"></a>00118
<a name="l00120"></a>00120 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#af00a9cd54690f68b9c5e5be3bbb9505b" title="Get the control bounds -- the bounding box in which to sample controls.">getControlBounds</a>(std::vector<double> &lower, std::vector<double> &upper) <span class="keyword">const</span> = 0;
<a name="l00121"></a>00121
<a name="l00125"></a>00125 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a63631eea956ae809f68412fa71218214" title="Application of a control. This function sets the forces/torques/velocities for bodies in the simulati...">applyControl</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> *control) <span class="keyword">const</span> = 0;
<a name="l00126"></a>00126
<a name="l00131"></a>00131 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ad9a735c35a15101711f7ba96e44ea15e" title="Decide whether a collision is a valid one or not. In some cases, collisions between some bodies can b...">isValidCollision</a>(dGeomID geom1, dGeomID geom2, <span class="keyword">const</span> dContact& contact) <span class="keyword">const</span>;
<a name="l00132"></a>00132
<a name="l00136"></a>00136 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ae32fec4cb60f1d4748d044c8f0f9bb26" title="Get the maximum number of contacts to set up between two colliding geoms. By default, this just returns the member variable maxContacts.">getMaxContacts</a>(dGeomID geom1, dGeomID geom2) <span class="keyword">const</span>;
<a name="l00137"></a>00137
<a name="l00139"></a>00139 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#a9ca2fc51b8a772dc0a4235f5884507cc" title="Parameters to set when contacts are created between geom1 and geom2.">setupContact</a>(dGeomID geom1, dGeomID geom2, dContact &contact) <span class="keyword">const</span>;
<a name="l00140"></a>00140
<a name="l00142"></a>00142 std::string <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#ae5da2bbc0b93a6194bcb79bb6dfe387a" title="Get the name of a body.">getGeomName</a>(dGeomID geom) <span class="keyword">const</span>;
<a name="l00143"></a>00143
<a name="l00145"></a>00145 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html#aae6ff2e49fd57d861944c023f353ca36" title="Set the name of a body.">setGeomName</a>(dGeomID geom, <span class="keyword">const</span> std::string &name);
<a name="l00146"></a>00146
<a name="l00147"></a>00147 };
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="preprocessor">#endif</span>
</pre></div></div>
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<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>
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