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ompl-devel-0.9.5-1.fc14.i686.rpm

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<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
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<div class="title">ODERigidBodyPlanning.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">*  &quot;AS IS&quot; 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 &lt;ompl/extensions/ode/ODESimpleSetup.h&gt;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &lt;ompl/base/GoalRegion.h&gt;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &lt;ompl/config.h&gt;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;ode/ode.h&gt;</span>
<a name="l00042"></a>00042 
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ob = ompl::base;
<a name="l00044"></a>00044 <span class="keyword">namespace </span>og = ompl::geometric;
<a name="l00045"></a>00045 <span class="keyword">namespace </span>oc = ompl::control;
<a name="l00046"></a>00046 
<a name="l00048"></a>00048 
<a name="l00049"></a>00049 <span class="keyword">class </span>RigidBodyEnvironment : <span class="keyword">public</span> oc::ODEEnvironment
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <span class="keyword">public</span>:
<a name="l00052"></a>00052 
<a name="l00053"></a>00053     RigidBodyEnvironment(<span class="keywordtype">void</span>) : oc::ODEEnvironment()
<a name="l00054"></a>00054     {
<a name="l00055"></a>00055         createWorld();
<a name="l00056"></a>00056     }
<a name="l00057"></a>00057 
<a name="l00058"></a>00058     <span class="keyword">virtual</span> ~RigidBodyEnvironment(<span class="keywordtype">void</span>)
<a name="l00059"></a>00059     {
<a name="l00060"></a>00060         destroyWorld();
<a name="l00061"></a>00061     }
<a name="l00062"></a>00062 
<a name="l00063"></a>00063     <span class="comment">/**************************************************</span>
<a name="l00064"></a>00064 <span class="comment">     * Implementation of functions needed by planning *</span>
<a name="l00065"></a>00065 <span class="comment">     **************************************************/</span>
<a name="l00066"></a>00066 
<a name="l00067"></a>00067     <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getControlDimension(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00068"></a>00068 <span class="keyword">    </span>{
<a name="l00069"></a>00069         <span class="keywordflow">return</span> 3;
<a name="l00070"></a>00070     }
<a name="l00071"></a>00071 
<a name="l00072"></a>00072     <span class="keyword">virtual</span> <span class="keywordtype">void</span> getControlBounds(std::vector&lt;double&gt; &amp;lower, std::vector&lt;double&gt; &amp;upper)<span class="keyword"> const</span>
<a name="l00073"></a>00073 <span class="keyword">    </span>{
<a name="l00074"></a>00074         <span class="keyword">static</span> <span class="keywordtype">double</span> maxForce = 0.2;
<a name="l00075"></a>00075         lower.resize(3);
<a name="l00076"></a>00076         lower[0] = -maxForce;
<a name="l00077"></a>00077         lower[1] = -maxForce;
<a name="l00078"></a>00078         lower[2] = -maxForce;
<a name="l00079"></a>00079 
<a name="l00080"></a>00080         upper.resize(3);
<a name="l00081"></a>00081         upper[0] = maxForce;
<a name="l00082"></a>00082         upper[1] = maxForce;
<a name="l00083"></a>00083         upper[2] = maxForce;
<a name="l00084"></a>00084     }
<a name="l00085"></a>00085 
<a name="l00086"></a>00086     <span class="keyword">virtual</span> <span class="keywordtype">void</span> applyControl(<span class="keyword">const</span> <span class="keywordtype">double</span> *control)<span class="keyword"> const</span>
<a name="l00087"></a>00087 <span class="keyword">    </span>{
<a name="l00088"></a>00088         dBodyAddForce(boxBody, control[0], control[1], control[2]);
<a name="l00089"></a>00089     }
<a name="l00090"></a>00090 
<a name="l00091"></a>00091     <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isValidCollision(dGeomID geom1, dGeomID geom2, <span class="keyword">const</span> dContact&amp; contact)<span class="keyword"> const</span>
<a name="l00092"></a>00092 <span class="keyword">    </span>{
<a name="l00093"></a>00093         <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00094"></a>00094     }
<a name="l00095"></a>00095 
<a name="l00096"></a>00096     <span class="keyword">virtual</span> <span class="keywordtype">void</span> setupContact(dGeomID geom1, dGeomID geom2, dContact &amp;contact)<span class="keyword"> const</span>
<a name="l00097"></a>00097 <span class="keyword">    </span>{
<a name="l00098"></a>00098         contact.surface.mode = dContactSoftCFM | dContactApprox1;
<a name="l00099"></a>00099         contact.surface.mu = 0.9;
<a name="l00100"></a>00100         contact.surface.soft_cfm = 0.2;
<a name="l00101"></a>00101     }
<a name="l00102"></a>00102 
<a name="l00103"></a>00103     <span class="comment">/**************************************************/</span>
<a name="l00104"></a>00104 
<a name="l00105"></a>00105 
<a name="l00106"></a>00106     <span class="comment">// OMPL does not require this function here; we implement it here</span>
<a name="l00107"></a>00107     <span class="comment">// for convenience. This function is only ODE code to create a</span>
<a name="l00108"></a>00108     <span class="comment">// simulation environment. At the end of the function, there is a</span>
<a name="l00109"></a>00109     <span class="comment">// call to setPlanningParameters(), which configures members of</span>
<a name="l00110"></a>00110     <span class="comment">// the base class needed by planners.</span>
<a name="l00111"></a>00111     <span class="keywordtype">void</span> createWorld(<span class="keywordtype">void</span>);
<a name="l00112"></a>00112 
<a name="l00113"></a>00113     <span class="comment">// Clear all ODE objects</span>
<a name="l00114"></a>00114     <span class="keywordtype">void</span> destroyWorld(<span class="keywordtype">void</span>);
<a name="l00115"></a>00115 
<a name="l00116"></a>00116     <span class="comment">// Set parameters needed by the base class (such as the bodies</span>
<a name="l00117"></a>00117     <span class="comment">// that make up to state of the system we are planning for)</span>
<a name="l00118"></a>00118     <span class="keywordtype">void</span> setPlanningParameters(<span class="keywordtype">void</span>);
<a name="l00119"></a>00119 
<a name="l00120"></a>00120     <span class="comment">// the simulation world</span>
<a name="l00121"></a>00121     dWorldID bodyWorld;
<a name="l00122"></a>00122 
<a name="l00123"></a>00123     <span class="comment">// the space for all objects</span>
<a name="l00124"></a>00124     dSpaceID space;
<a name="l00125"></a>00125 
<a name="l00126"></a>00126     <span class="comment">// the car mass</span>
<a name="l00127"></a>00127     dMass    m;
<a name="l00128"></a>00128 
<a name="l00129"></a>00129     <span class="comment">// the body geom</span>
<a name="l00130"></a>00130     dGeomID  boxGeom;
<a name="l00131"></a>00131 
<a name="l00132"></a>00132     <span class="comment">// the body</span>
<a name="l00133"></a>00133     dBodyID  boxBody;
<a name="l00134"></a>00134 
<a name="l00135"></a>00135 };
<a name="l00136"></a>00136 
<a name="l00137"></a>00137 
<a name="l00138"></a>00138 <span class="comment">// Define the goal we want to reach</span>
<a name="l00139"></a>00139 <span class="keyword">class </span>RigidBodyGoal : <span class="keyword">public</span> ob::GoalRegion
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141 <span class="keyword">public</span>:
<a name="l00142"></a>00142 
<a name="l00143"></a>00143     RigidBodyGoal(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">ob::SpaceInformationPtr</a> &amp;si) : ob::GoalRegion(si)
<a name="l00144"></a>00144     {
<a name="l00145"></a>00145         threshold_ = 0.5;
<a name="l00146"></a>00146     }
<a name="l00147"></a>00147 
<a name="l00148"></a>00148     <span class="keyword">virtual</span> <span class="keywordtype">double</span> distanceGoal(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *st)<span class="keyword"> const</span>
<a name="l00149"></a>00149 <span class="keyword">    </span>{
<a name="l00150"></a>00150         <span class="keyword">const</span> <span class="keywordtype">double</span> *pos = st-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">oc::ODEStateSpace::StateType</a>&gt;()-&gt;getBodyPosition(0);
<a name="l00151"></a>00151         <span class="keywordtype">double</span> dx = fabs(pos[0] - 30);
<a name="l00152"></a>00152         <span class="keywordtype">double</span> dy = fabs(pos[1] - 55);
<a name="l00153"></a>00153         <span class="keywordtype">double</span> dz = fabs(pos[2] - 35);
<a name="l00154"></a>00154         <span class="keywordflow">return</span> sqrt(dx * dx + dy * dy + dz * dz);
<a name="l00155"></a>00155     }
<a name="l00156"></a>00156 
<a name="l00157"></a>00157 };
<a name="l00158"></a>00158 
<a name="l00159"></a>00159 
<a name="l00160"></a>00160 <span class="comment">// Define how we project a state</span>
<a name="l00161"></a>00161 <span class="keyword">class </span>RigidBodyStateProjectionEvaluator : <span class="keyword">public</span> ob::ProjectionEvaluator
<a name="l00162"></a>00162 {
<a name="l00163"></a>00163 <span class="keyword">public</span>:
<a name="l00164"></a>00164 
<a name="l00165"></a>00165     RigidBodyStateProjectionEvaluator(<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.">ob::StateSpace</a> *space) : ob::ProjectionEvaluator(space)
<a name="l00166"></a>00166     {
<a name="l00167"></a>00167     }
<a name="l00168"></a>00168 
<a name="l00169"></a>00169     <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="l00170"></a>00170 <span class="keyword">    </span>{
<a name="l00171"></a>00171         <span class="keywordflow">return</span> 3;
<a name="l00172"></a>00172     }
<a name="l00173"></a>00173 
<a name="l00174"></a>00174     <span class="keyword">virtual</span> <span class="keywordtype">void</span> defaultCellSizes(<span class="keywordtype">void</span>)
<a name="l00175"></a>00175     {
<a name="l00176"></a>00176         cellSizes_.resize(3);
<a name="l00177"></a>00177         cellSizes_[0] = 1;
<a name="l00178"></a>00178         cellSizes_[1] = 1;
<a name="l00179"></a>00179         cellSizes_[2] = 1;
<a name="l00180"></a>00180     }
<a name="l00181"></a>00181 
<a name="l00182"></a>00182     <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.">ob::State</a> *state, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">ob::EuclideanProjection</a> &amp;projection)<span class="keyword"> const</span>
<a name="l00183"></a>00183 <span class="keyword">    </span>{
<a name="l00184"></a>00184         <span class="keyword">const</span> <span class="keywordtype">double</span> *pos = state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">oc::ODEStateSpace::StateType</a>&gt;()-&gt;getBodyPosition(0);
<a name="l00185"></a>00185         projection[0] = pos[0];
<a name="l00186"></a>00186         projection[1] = pos[1];
<a name="l00187"></a>00187         projection[2] = pos[2];
<a name="l00188"></a>00188     }
<a name="l00189"></a>00189 
<a name="l00190"></a>00190 };
<a name="l00191"></a>00191 
<a name="l00192"></a>00192 <span class="comment">// Define our own space, to include a distance function we want and register a default projection</span>
<a name="l00193"></a>00193 <span class="keyword">class </span>RigidBodyStateSpace : <span class="keyword">public</span> oc::ODEStateSpace
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195 <span class="keyword">public</span>:
<a name="l00196"></a>00196 
<a name="l00197"></a>00197     RigidBodyStateSpace(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironmentPtr.html" title="A boost shared pointer wrapper for ompl::control::ODEEnvironment.">oc::ODEEnvironmentPtr</a> &amp;env) : oc::ODEStateSpace(env)
<a name="l00198"></a>00198     {
<a name="l00199"></a>00199     }
<a name="l00200"></a>00200 
<a name="l00201"></a>00201     <span class="keyword">virtual</span> <span class="keywordtype">double</span> distance(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *s1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *s2)<span class="keyword"> const</span>
<a name="l00202"></a>00202 <span class="keyword">    </span>{
<a name="l00203"></a>00203         <span class="keyword">const</span> <span class="keywordtype">double</span> *p1 = s1-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">oc::ODEStateSpace::StateType</a>&gt;()-&gt;getBodyPosition(0);
<a name="l00204"></a>00204         <span class="keyword">const</span> <span class="keywordtype">double</span> *p2 = s2-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">oc::ODEStateSpace::StateType</a>&gt;()-&gt;getBodyPosition(0);
<a name="l00205"></a>00205         <span class="keywordtype">double</span> dx = fabs(p1[0] - p2[0]);
<a name="l00206"></a>00206         <span class="keywordtype">double</span> dy = fabs(p1[1] - p2[1]);
<a name="l00207"></a>00207         <span class="keywordtype">double</span> dz = fabs(p1[2] - p2[2]);
<a name="l00208"></a>00208         <span class="keywordflow">return</span> sqrt(dx * dx + dy * dy + dz * dz);
<a name="l00209"></a>00209     }
<a name="l00210"></a>00210 
<a name="l00211"></a>00211     <span class="keyword">virtual</span> <span class="keywordtype">void</span> registerProjections(<span class="keywordtype">void</span>)
<a name="l00212"></a>00212     {
<a name="l00213"></a>00213             registerDefaultProjection(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">ob::ProjectionEvaluatorPtr</a>(<span class="keyword">new</span> RigidBodyStateProjectionEvaluator(<span class="keyword">this</span>)));
<a name="l00214"></a>00214     }
<a name="l00215"></a>00215 
<a name="l00216"></a>00216 };
<a name="l00217"></a>00217 
<a name="l00219"></a>00219 
<a name="l00220"></a>00220 <span class="keywordtype">int</span> main(<span class="keywordtype">int</span>, <span class="keywordtype">char</span> **)
<a name="l00221"></a>00221 {
<a name="l00222"></a>00222     <span class="comment">// initialize ODE</span>
<a name="l00223"></a>00223     dInitODE2(0);
<a name="l00224"></a>00224 
<a name="l00225"></a>00225     <span class="comment">// create the ODE environment</span>
<a name="l00226"></a>00226     <a class="code" href="classompl_1_1control_1_1ODEEnvironmentPtr.html" title="A boost shared pointer wrapper for ompl::control::ODEEnvironment.">oc::ODEEnvironmentPtr</a> env(<span class="keyword">new</span> RigidBodyEnvironment());
<a name="l00227"></a>00227 
<a name="l00228"></a>00228     <span class="comment">// create the state space and the control space for planning</span>
<a name="l00229"></a>00229     RigidBodyStateSpace *stateSpace = <span class="keyword">new</span> RigidBodyStateSpace(env);
<a name="l00230"></a>00230     <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ob::StateSpacePtr</a> stateSpacePtr = <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ob::StateSpacePtr</a>(stateSpace);
<a name="l00231"></a>00231 
<a name="l00232"></a>00232     <span class="comment">// this will take care of setting a proper collision checker and the starting state for the planner as the initial ODE state</span>
<a name="l00233"></a>00233     <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html" title="Create the set of classes typically needed to solve a control problem when forward propagation is com...">oc::ODESimpleSetup</a> ss(stateSpacePtr);
<a name="l00234"></a>00234 
<a name="l00235"></a>00235     <span class="comment">// set the goal we would like to reach</span>
<a name="l00236"></a>00236     ss.setGoal(<a class="code" href="classompl_1_1base_1_1GoalPtr.html" title="A boost shared pointer wrapper for ompl::base::Goal.">ob::GoalPtr</a>(<span class="keyword">new</span> RigidBodyGoal(ss.getSpaceInformation())));
<a name="l00237"></a>00237 
<a name="l00238"></a>00238     <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> bounds(3);
<a name="l00239"></a>00239     bounds.setLow(-200);
<a name="l00240"></a>00240     bounds.setHigh(200);
<a name="l00241"></a>00241     stateSpace-&gt;setVolumeBounds(bounds);
<a name="l00242"></a>00242 
<a name="l00243"></a>00243     bounds.setLow(-20);
<a name="l00244"></a>00244     bounds.setHigh(20);
<a name="l00245"></a>00245     stateSpace-&gt;setLinearVelocityBounds(bounds);
<a name="l00246"></a>00246     stateSpace-&gt;setAngularVelocityBounds(bounds);
<a name="l00247"></a>00247 
<a name="l00248"></a>00248     ss.setup();
<a name="l00249"></a>00249     ss.print();
<a name="l00250"></a>00250 
<a name="l00251"></a>00251     <span class="keywordflow">if</span> (ss.solve(10))
<a name="l00252"></a>00252     {
<a name="l00253"></a>00253         <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">og::PathGeometric</a> &amp;p = ss.getSolutionPath().asGeometric();
<a name="l00254"></a>00254         <span class="keyword">const</span> std::vector&lt;ob::State*&gt; &amp;states = p.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>;
<a name="l00255"></a>00255         <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; states.size() ; ++i)
<a name="l00256"></a>00256         {
<a name="l00257"></a>00257             <span class="keyword">const</span> <span class="keywordtype">double</span> *pos = states[i]-&gt;as&lt;<a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">ob::CompoundState</a>&gt;()-&gt;as&lt;ob::RealVectorStateSpace::StateType&gt;(0)-&gt;values;
<a name="l00258"></a>00258             std::cout &lt;&lt; pos[0] &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; pos[1] &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; pos[2] &lt;&lt; std::endl;
<a name="l00259"></a>00259         }
<a name="l00260"></a>00260     }
<a name="l00261"></a>00261 
<a name="l00262"></a>00262     dCloseODE();
<a name="l00263"></a>00263 
<a name="l00264"></a>00264     <span class="keywordflow">return</span> 0;
<a name="l00265"></a>00265 }
<a name="l00266"></a>00266 
<a name="l00267"></a>00267 
<a name="l00268"></a>00268 
<a name="l00269"></a>00269 
<a name="l00270"></a>00270 
<a name="l00271"></a>00271 
<a name="l00272"></a>00272 
<a name="l00273"></a>00273 
<a name="l00275"></a>00275 
<a name="l00276"></a>00276 <span class="comment">/***********************************************</span>
<a name="l00277"></a>00277 <span class="comment"> * Member function implementations             *</span>
<a name="l00278"></a>00278 <span class="comment"> ***********************************************/</span>
<a name="l00279"></a>00279 
<a name="l00280"></a>00280 <span class="keywordtype">void</span> RigidBodyEnvironment::createWorld(<span class="keywordtype">void</span>)
<a name="l00281"></a>00281 {
<a name="l00282"></a>00282     <span class="comment">// BEGIN SETTING UP AN ODE ENVIRONMENT</span>
<a name="l00283"></a>00283     <span class="comment">// ***********************************</span>
<a name="l00284"></a>00284 
<a name="l00285"></a>00285     bodyWorld = dWorldCreate();
<a name="l00286"></a>00286     space = dHashSpaceCreate(0);
<a name="l00287"></a>00287 
<a name="l00288"></a>00288     dWorldSetGravity(bodyWorld, 0, 0, -0.981);
<a name="l00289"></a>00289 
<a name="l00290"></a>00290     <span class="keywordtype">double</span> lx = 0.2;
<a name="l00291"></a>00291     <span class="keywordtype">double</span> ly = 0.2;
<a name="l00292"></a>00292     <span class="keywordtype">double</span> lz = 0.1;
<a name="l00293"></a>00293 
<a name="l00294"></a>00294     dMassSetBox(&amp;m, 1, lx, ly, lz);
<a name="l00295"></a>00295 
<a name="l00296"></a>00296     boxGeom = dCreateBox(space, lx, ly, lz);
<a name="l00297"></a>00297     boxBody = dBodyCreate(bodyWorld);
<a name="l00298"></a>00298     dBodySetMass(boxBody, &amp;m);
<a name="l00299"></a>00299     dGeomSetBody(boxGeom, boxBody);
<a name="l00300"></a>00300 
<a name="l00301"></a>00301     <span class="comment">// *********************************</span>
<a name="l00302"></a>00302     <span class="comment">// END SETTING UP AN ODE ENVIRONMENT</span>
<a name="l00303"></a>00303 
<a name="l00304"></a>00304     setPlanningParameters();
<a name="l00305"></a>00305 }
<a name="l00306"></a>00306 
<a name="l00307"></a>00307 <span class="keywordtype">void</span> RigidBodyEnvironment::destroyWorld(<span class="keywordtype">void</span>)
<a name="l00308"></a>00308 {
<a name="l00309"></a>00309     dSpaceDestroy(space);
<a name="l00310"></a>00310     dWorldDestroy(bodyWorld);
<a name="l00311"></a>00311 }
<a name="l00312"></a>00312 
<a name="l00313"></a>00313 <span class="keywordtype">void</span> RigidBodyEnvironment::setPlanningParameters(<span class="keywordtype">void</span>)
<a name="l00314"></a>00314 {
<a name="l00315"></a>00315     <span class="comment">// Fill in parameters for OMPL:</span>
<a name="l00316"></a>00316     world_ = bodyWorld;
<a name="l00317"></a>00317     collisionSpaces_.push_back(space);
<a name="l00318"></a>00318     stateBodies_.push_back(boxBody);
<a name="l00319"></a>00319     stepSize_ = 0.05;
<a name="l00320"></a>00320     maxContacts_ = 3;
<a name="l00321"></a>00321     minControlSteps_ = 10;
<a name="l00322"></a>00322     maxControlSteps_ = 500;
<a name="l00323"></a>00323 }
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