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

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<div class="title">PathControl.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>
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<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 &quot;ompl/control/PathControl.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/geometric/PathGeometric.h&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &quot;ompl/base/samplers/UniformValidStateSampler.h&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/util/Exception.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;numeric&gt;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;cmath&gt;</span>
<a name="l00043"></a>00043 
<a name="l00044"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#acad02bde7b3869b242e5bf7f2b9d9546">00044</a> <a class="code" href="classompl_1_1control_1_1PathControl.html#acad02bde7b3869b242e5bf7f2b9d9546" title="Constructor.">ompl::control::PathControl::PathControl</a>(<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.">base::SpaceInformationPtr</a> &amp;si) : base::Path(si)
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046     <span class="keywordflow">if</span> (!dynamic_cast&lt;const SpaceInformation*&gt;(<a class="code" href="classompl_1_1base_1_1Path.html#a87250f099dbe84a3c0ba515360ac4339" title="The space information this path is part of.">si_</a>.get()))
<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">&quot;Cannot create a path with controls from a space that does not support controls&quot;</span>);
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049 
<a name="l00050"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a52e694c4f5e5d0acddda7e3053c2d6eb">00050</a> <a class="code" href="classompl_1_1control_1_1PathControl.html#acad02bde7b3869b242e5bf7f2b9d9546" title="Constructor.">ompl::control::PathControl::PathControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a> &amp;path) : base::Path(path.si_)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052     <a class="code" href="classompl_1_1control_1_1PathControl.html#aba52a0ae46c87f57a8a4e9f75855cbc2" title="Copy the content of a path to this one.">copyFrom</a>(path);
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054 
<a name="l00055"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a3bca482c4b24fd3bec6dce4d1828e269">00055</a> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">ompl::geometric::PathGeometric</a> <a class="code" href="classompl_1_1control_1_1PathControl.html#a3bca482c4b24fd3bec6dce4d1828e269" title="Convert this path into a geometric path (interpolation is performed and then states are copied)...">ompl::control::PathControl::asGeometric</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00056"></a>00056 <span class="keyword"></span>{
<a name="l00057"></a>00057     <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a> pc(*<span class="keyword">this</span>);
<a name="l00058"></a>00058     pc.<a class="code" href="classompl_1_1control_1_1PathControl.html#ada0ebf95a7cfc3b540e423aa1ba4b6f0" title="Make the path such that all controls are applied for a single time step (computes intermediate states...">interpolate</a>();
<a name="l00059"></a>00059     <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">geometric::PathGeometric</a> pg(si_);
<a name="l00060"></a>00060     pg.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.swap(pc.<a class="code" href="classompl_1_1control_1_1PathControl.html#a2bd25b55f0de06ecac55cabb4b90a606" title="The list of states that make up the path.">states</a>);
<a name="l00061"></a>00061     <span class="keywordflow">return</span> pg;
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063 
<a name="l00064"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#aae38b0401aa76d832ad9098d51065130">00064</a> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">ompl::control::PathControl</a>&amp; <a class="code" href="classompl_1_1control_1_1PathControl.html#aae38b0401aa76d832ad9098d51065130" title="Assignment operator.">ompl::control::PathControl::operator=</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>&amp; other)
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066     freeMemory();
<a name="l00067"></a>00067     si_ = other.<a class="code" href="classompl_1_1base_1_1Path.html#a87250f099dbe84a3c0ba515360ac4339" title="The space information this path is part of.">si_</a>;
<a name="l00068"></a>00068     copyFrom(other);
<a name="l00069"></a>00069     <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00070"></a>00070 }
<a name="l00071"></a>00071 
<a name="l00072"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#aba52a0ae46c87f57a8a4e9f75855cbc2">00072</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#aba52a0ae46c87f57a8a4e9f75855cbc2" title="Copy the content of a path to this one.">ompl::control::PathControl::copyFrom</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>&amp; other)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074     states.resize(other.<a class="code" href="classompl_1_1control_1_1PathControl.html#a2bd25b55f0de06ecac55cabb4b90a606" title="The list of states that make up the path.">states</a>.size());
<a name="l00075"></a>00075     controls.resize(other.<a class="code" href="classompl_1_1control_1_1PathControl.html#a69d77e39906c91394470f9e988b4944a" title="The control applied at each state. This array contains one element less than the list of states...">controls</a>.size());
<a name="l00076"></a>00076 
<a name="l00077"></a>00077     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; states.size() ; ++i)
<a name="l00078"></a>00078         states[i] = si_-&gt;cloneState(other.<a class="code" href="classompl_1_1control_1_1PathControl.html#a2bd25b55f0de06ecac55cabb4b90a606" title="The list of states that make up the path.">states</a>[i]);
<a name="l00079"></a>00079 
<a name="l00080"></a>00080     <span class="keyword">const</span> <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">static_cast&lt;</span><span class="keyword">const </span><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>*<span class="keyword">&gt;</span>(si_.get());
<a name="l00081"></a>00081     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; controls.size() ; ++i)
<a name="l00082"></a>00082         controls[i] = si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a6d3fe11e070f517b8f4e6ff35df826b1" title="Clone a control.">cloneControl</a>(other.<a class="code" href="classompl_1_1control_1_1PathControl.html#a69d77e39906c91394470f9e988b4944a" title="The control applied at each state. This array contains one element less than the list of states...">controls</a>[i]);
<a name="l00083"></a>00083 
<a name="l00084"></a>00084     controlDurations = other.<a class="code" href="classompl_1_1control_1_1PathControl.html#a3a8b0e7b00684789eac7d51d65d81b49" title="The duration of the control applied at each state. This array contains one element less than the list...">controlDurations</a>;
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086 
<a name="l00087"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a97e5f036db976943e2fd8981fa1576d9">00087</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#a97e5f036db976943e2fd8981fa1576d9" title="The path length (sum of control durations)">ompl::control::PathControl::length</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00088"></a>00088 <span class="keyword"></span>{
<a name="l00089"></a>00089     <span class="keywordflow">return</span> std::accumulate(controlDurations.begin(), controlDurations.end(), 0.0);
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091 
<a name="l00092"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a29fa8adb0eea5674ae095623f7a59f1d">00092</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#a29fa8adb0eea5674ae095623f7a59f1d" title="Print the path to a stream.">ompl::control::PathControl::print</a>(std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00093"></a>00093 <span class="keyword"></span>{
<a name="l00094"></a>00094     <span class="keyword">const</span> <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">static_cast&lt;</span><span class="keyword">const </span><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>*<span class="keyword">&gt;</span>(si_.get());
<a name="l00095"></a>00095     <span class="keywordtype">double</span> res = si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa97e61146506dcc7e4a741aa12aa4a24" title="Propagation is performed at integer multiples of a specified step size. This function returns the val...">getPropagationStepSize</a>();
<a name="l00096"></a>00096     out &lt;&lt; <span class="stringliteral">&quot;Control path with &quot;</span> &lt;&lt; states.size() &lt;&lt; <span class="stringliteral">&quot; states&quot;</span> &lt;&lt; std::endl;
<a name="l00097"></a>00097     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; controls.size() ; ++i)
<a name="l00098"></a>00098     {
<a name="l00099"></a>00099         out &lt;&lt; <span class="stringliteral">&quot;At state &quot;</span>;
<a name="l00100"></a>00100         si_-&gt;printState(states[i], out);
<a name="l00101"></a>00101         out &lt;&lt; <span class="stringliteral">&quot;  apply control &quot;</span>;
<a name="l00102"></a>00102         si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a5a3ab67457a94b8076c3d4c30a0c556a" title="Print a control to a stream.">printControl</a>(controls[i], out);
<a name="l00103"></a>00103         out &lt;&lt; <span class="stringliteral">&quot;  for &quot;</span> &lt;&lt; (int)floor(0.5 + controlDurations[i]/res) &lt;&lt; <span class="stringliteral">&quot; steps&quot;</span> &lt;&lt; std::endl;
<a name="l00104"></a>00104     }
<a name="l00105"></a>00105     out &lt;&lt; <span class="stringliteral">&quot;Arrive at state &quot;</span>;
<a name="l00106"></a>00106     si_-&gt;printState(states[controls.size()], out);
<a name="l00107"></a>00107     out &lt;&lt; std::endl;
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 
<a name="l00110"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#ada0ebf95a7cfc3b540e423aa1ba4b6f0">00110</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#ada0ebf95a7cfc3b540e423aa1ba4b6f0" title="Make the path such that all controls are applied for a single time step (computes intermediate states...">ompl::control::PathControl::interpolate</a>(<span class="keywordtype">void</span>)
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112     <span class="keyword">const</span> <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">static_cast&lt;</span><span class="keyword">const </span><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>*<span class="keyword">&gt;</span>(si_.get());
<a name="l00113"></a>00113     std::vector&lt;base::State*&gt; newStates;
<a name="l00114"></a>00114     std::vector&lt;Control*&gt; newControls;
<a name="l00115"></a>00115     std::vector&lt;double&gt; newControlDurations;
<a name="l00116"></a>00116 
<a name="l00117"></a>00117     <span class="keywordtype">double</span> res = si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa97e61146506dcc7e4a741aa12aa4a24" title="Propagation is performed at integer multiples of a specified step size. This function returns the val...">getPropagationStepSize</a>();
<a name="l00118"></a>00118     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>  i = 0 ; i &lt; controls.size() ; ++i)
<a name="l00119"></a>00119     {
<a name="l00120"></a>00120         <span class="keywordtype">int</span> steps = (int)floor(0.5 + controlDurations[i] / res);
<a name="l00121"></a>00121         assert(steps &gt;= 0);
<a name="l00122"></a>00122         <span class="keywordflow">if</span> (steps &lt;= 1)
<a name="l00123"></a>00123         {
<a name="l00124"></a>00124             newStates.push_back(states[i]);
<a name="l00125"></a>00125             newControls.push_back(controls[i]);
<a name="l00126"></a>00126             newControlDurations.push_back(controlDurations[i]);
<a name="l00127"></a>00127             <span class="keywordflow">continue</span>;
<a name="l00128"></a>00128         }
<a name="l00129"></a>00129         std::vector&lt;base::State*&gt; istates;
<a name="l00130"></a>00130         si-&gt;<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...">propagate</a>(states[i], controls[i], steps, istates, <span class="keyword">true</span>);
<a name="l00131"></a>00131         <span class="comment">// last state is already in the non-interpolated path</span>
<a name="l00132"></a>00132         <span class="keywordflow">if</span> (!istates.empty())
<a name="l00133"></a>00133         {
<a name="l00134"></a>00134             si_-&gt;freeState(istates.back());
<a name="l00135"></a>00135             istates.pop_back();
<a name="l00136"></a>00136         }
<a name="l00137"></a>00137         newStates.push_back(states[i]);
<a name="l00138"></a>00138         newStates.insert(newStates.end(), istates.begin(), istates.end());
<a name="l00139"></a>00139         newControls.push_back(controls[i]);
<a name="l00140"></a>00140         newControlDurations.push_back(res);
<a name="l00141"></a>00141         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 1 ; j &lt; steps; ++j)
<a name="l00142"></a>00142         {
<a name="l00143"></a>00143             newControls.push_back(si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a6d3fe11e070f517b8f4e6ff35df826b1" title="Clone a control.">cloneControl</a>(controls[i]));
<a name="l00144"></a>00144             newControlDurations.push_back(res);
<a name="l00145"></a>00145         }
<a name="l00146"></a>00146     }
<a name="l00147"></a>00147     newStates.push_back(states[controls.size()]);
<a name="l00148"></a>00148     states.swap(newStates);
<a name="l00149"></a>00149     controls.swap(newControls);
<a name="l00150"></a>00150     controlDurations.swap(newControlDurations);
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 
<a name="l00153"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a9327a78ee2e1daa40ca9d36a985669cd">00153</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#a9327a78ee2e1daa40ca9d36a985669cd" title="Check if the path is valid.">ompl::control::PathControl::check</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00154"></a>00154 <span class="keyword"></span>{
<a name="l00155"></a>00155     <span class="keywordtype">bool</span> valid = <span class="keyword">true</span>;
<a name="l00156"></a>00156     <span class="keyword">const</span> <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">static_cast&lt;</span><span class="keyword">const </span><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>*<span class="keyword">&gt;</span>(si_.get());
<a name="l00157"></a>00157     <span class="keywordtype">double</span> res = si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa97e61146506dcc7e4a741aa12aa4a24" title="Propagation is performed at integer multiples of a specified step size. This function returns the val...">getPropagationStepSize</a>();
<a name="l00158"></a>00158     <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *dummy = si_-&gt;allocState();
<a name="l00159"></a>00159     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>  i = 0 ; i &lt; controls.size() ; ++i)
<a name="l00160"></a>00160     {
<a name="l00161"></a>00161         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps = (<span class="keywordtype">unsigned</span> int)floor(0.5 + controlDurations[i] / res);
<a name="l00162"></a>00162         <span class="keywordflow">if</span> (si-&gt;<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...">propagateWhileValid</a>(states[i], controls[i], steps, dummy) != steps)
<a name="l00163"></a>00163         {
<a name="l00164"></a>00164             valid = <span class="keyword">false</span>;
<a name="l00165"></a>00165             <span class="keywordflow">break</span>;
<a name="l00166"></a>00166         }
<a name="l00167"></a>00167     }
<a name="l00168"></a>00168     si_-&gt;freeState(dummy);
<a name="l00169"></a>00169 
<a name="l00170"></a>00170     <span class="keywordflow">if</span> (valid)
<a name="l00171"></a>00171         <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j &lt; states.size() ; ++j)
<a name="l00172"></a>00172             <span class="keywordflow">if</span> (!si_-&gt;isValid(states[j]))
<a name="l00173"></a>00173                 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">&quot;Internal error. This should not ever happen. Please contact the developers.&quot;</span>);
<a name="l00174"></a>00174 
<a name="l00175"></a>00175     <span class="keywordflow">return</span> valid;
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177 
<a name="l00178"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#ac832244ac760aff8861762c989931864">00178</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#ac832244ac760aff8861762c989931864" title="Set this path to a random segment.">ompl::control::PathControl::random</a>(<span class="keywordtype">void</span>)
<a name="l00179"></a>00179 {
<a name="l00180"></a>00180     freeMemory();
<a name="l00181"></a>00181     states.resize(2);
<a name="l00182"></a>00182     controlDurations.resize(1);
<a name="l00183"></a>00183     controls.resize(1);
<a name="l00184"></a>00184 
<a name="l00185"></a>00185     <span class="keyword">const</span> <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">static_cast&lt;</span><span class="keyword">const </span><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>*<span class="keyword">&gt;</span>(si_.get());
<a name="l00186"></a>00186     states[0] = si-&gt;<a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a9e758a30cc13bd00c6cee667c9232e88" title="Allocate memory for a state.">allocState</a>();
<a name="l00187"></a>00187     states[1] = si-&gt;<a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a9e758a30cc13bd00c6cee667c9232e88" title="Allocate memory for a state.">allocState</a>();
<a name="l00188"></a>00188     controls[0] = si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a1d95628bb8142809447cdb294abc0e14" title="Allocate memory for a control.">allocControl</a>();
<a name="l00189"></a>00189 
<a name="l00190"></a>00190     <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">base::StateSamplerPtr</a> ss = si-&gt;<a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a65ba2c60529f5aa23098d43c6c2b6da4" title="Allocate a uniform state sampler for the state space.">allocStateSampler</a>();
<a name="l00191"></a>00191     ss-&gt;sampleUniform(states[0]);
<a name="l00192"></a>00192     <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a> cs = si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#acbeaa674070b0f3b66e9d40c6fc5ea5b" title="Allocate a control sampler.">allocControlSampler</a>();
<a name="l00193"></a>00193     cs-&gt;sample(controls[0], states[0]);
<a name="l00194"></a>00194     <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps = cs-&gt;sampleStepCount(si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a70e51fddc57973d6b6398111d7e1dae6" title="Get the minimum number of steps a control is propagated for.">getMinControlDuration</a>(), si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a6386fc1b88bcd6fae6c61bcdd26522d2" title="Get the maximum number of steps a control is propagated for.">getMaxControlDuration</a>());
<a name="l00195"></a>00195     controlDurations[0] = steps * si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa97e61146506dcc7e4a741aa12aa4a24" title="Propagation is performed at integer multiples of a specified step size. This function returns the val...">getPropagationStepSize</a>();
<a name="l00196"></a>00196     si-&gt;<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...">propagate</a>(states[0], controls[0], steps, states[1]);
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198 
<a name="l00199"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#aa7f230dba3a6f6e2e7a59130fd4dd795">00199</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#aa7f230dba3a6f6e2e7a59130fd4dd795" title="Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success.">ompl::control::PathControl::randomValid</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts)
<a name="l00200"></a>00200 {
<a name="l00201"></a>00201     freeMemory();
<a name="l00202"></a>00202     states.resize(2);
<a name="l00203"></a>00203     controlDurations.resize(1);
<a name="l00204"></a>00204     controls.resize(1);
<a name="l00205"></a>00205 
<a name="l00206"></a>00206     <span class="keyword">const</span> <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">static_cast&lt;</span><span class="keyword">const </span><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>*<span class="keyword">&gt;</span>(si_.get());
<a name="l00207"></a>00207     states[0] = si-&gt;<a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a9e758a30cc13bd00c6cee667c9232e88" title="Allocate memory for a state.">allocState</a>();
<a name="l00208"></a>00208     states[1] = si-&gt;<a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a9e758a30cc13bd00c6cee667c9232e88" title="Allocate memory for a state.">allocState</a>();
<a name="l00209"></a>00209     controls[0] = si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a1d95628bb8142809447cdb294abc0e14" title="Allocate memory for a control.">allocControl</a>();
<a name="l00210"></a>00210 
<a name="l00211"></a>00211     <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a> cs = si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#acbeaa674070b0f3b66e9d40c6fc5ea5b" title="Allocate a control sampler.">allocControlSampler</a>();
<a name="l00212"></a>00212     <a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html" title="A state sampler that only samples valid states, uniformly.">base::UniformValidStateSampler</a> *uvss = <span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html" title="A state sampler that only samples valid states, uniformly.">base::UniformValidStateSampler</a>(si);
<a name="l00213"></a>00213     uvss-&gt;<a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#aa134892ca5a8ae0c5ec2e37693787090" title="Finding a valid sample usually requires performing multiple attempts. This call allows setting the nu...">setNrAttempts</a>(attempts);
<a name="l00214"></a>00214     <span class="keywordtype">bool</span> ok = <span class="keyword">false</span>;
<a name="l00215"></a>00215     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; attempts ; ++i)
<a name="l00216"></a>00216         <span class="keywordflow">if</span> (uvss-&gt;<a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html#a8e0136c7ed25a4bfd552c6cabaebcdb3" title="Sample a state. Return false in case of failure.">sample</a>(states[0]))
<a name="l00217"></a>00217         {
<a name="l00218"></a>00218             cs-&gt;sample(controls[0], states[0]);
<a name="l00219"></a>00219             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps = cs-&gt;sampleStepCount(si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a70e51fddc57973d6b6398111d7e1dae6" title="Get the minimum number of steps a control is propagated for.">getMinControlDuration</a>(), si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a6386fc1b88bcd6fae6c61bcdd26522d2" title="Get the maximum number of steps a control is propagated for.">getMaxControlDuration</a>());
<a name="l00220"></a>00220             controlDurations[0] = steps * si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa97e61146506dcc7e4a741aa12aa4a24" title="Propagation is performed at integer multiples of a specified step size. This function returns the val...">getPropagationStepSize</a>();
<a name="l00221"></a>00221             <span class="keywordflow">if</span> (si-&gt;<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...">propagateWhileValid</a>(states[0], controls[0], steps, states[1]) == steps)
<a name="l00222"></a>00222             {
<a name="l00223"></a>00223                 ok = <span class="keyword">true</span>;
<a name="l00224"></a>00224                 <span class="keywordflow">break</span>;
<a name="l00225"></a>00225             }
<a name="l00226"></a>00226         }
<a name="l00227"></a>00227     <span class="keyword">delete</span> uvss;
<a name="l00228"></a>00228 
<a name="l00229"></a>00229     <span class="keywordflow">if</span> (!ok)
<a name="l00230"></a>00230     {
<a name="l00231"></a>00231         freeMemory();
<a name="l00232"></a>00232         states.clear();
<a name="l00233"></a>00233         controls.clear();
<a name="l00234"></a>00234         controlDurations.clear();
<a name="l00235"></a>00235     }
<a name="l00236"></a>00236     <span class="keywordflow">return</span> ok;
<a name="l00237"></a>00237 }
<a name="l00238"></a>00238 
<a name="l00239"></a><a class="code" href="classompl_1_1control_1_1PathControl.html#a0c503c93b4ab95356d4c08e482d11f7c">00239</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1PathControl.html#a0c503c93b4ab95356d4c08e482d11f7c" title="Free the memory allocated by the path.">ompl::control::PathControl::freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00240"></a>00240 {
<a name="l00241"></a>00241     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; states.size() ; ++i)
<a name="l00242"></a>00242         si_-&gt;freeState(states[i]);
<a name="l00243"></a>00243     <span class="keyword">const</span> <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">static_cast&lt;</span><span class="keyword">const </span><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>*<span class="keyword">&gt;</span>(si_.get());
<a name="l00244"></a>00244     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; controls.size() ; ++i)
<a name="l00245"></a>00245         si-&gt;<a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a4fd67c06599f1b1968c16dd59215ec2f" title="Free the memory of a control.">freeControl</a>(controls[i]);
<a name="l00246"></a>00246 }
</pre></div></div>
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