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<div class="title">PathGeometric.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) 2008, Willow Garage, Inc.</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 Willow Garage 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/geometric/PathGeometric.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/base/samplers/UniformValidStateSampler.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/base/ScopedState.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <algorithm></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <cmath></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <limits></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <boost/math/constants/constants.hpp></span>
<a name="l00044"></a>00044
<a name="l00045"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a45d676fcc2896ecf9e9156bac2cba4fb">00045</a> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">ompl::geometric::PathGeometric::PathGeometric</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &path) : base::Path(path.si_)
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a79b0a01a8075a16666b475e1c0227968" title="Copy data to this path from another path instance.">copyFrom</a>(path);
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049
<a name="l00050"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1e872d1a6b4528ec809b2fcc1e2c34bd">00050</a> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ab85d32ca5bce67da74a3b116ac11fd73" title="Construct a path instance for a given space information.">ompl::geometric::PathGeometric::PathGeometric</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> &si, <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) : base::Path(si)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.resize(1);
<a name="l00053"></a>00053 <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[0] = <a class="code" href="classompl_1_1base_1_1Path.html#a87250f099dbe84a3c0ba515360ac4339" title="The space information this path is part of.">si_</a>->cloneState(state);
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055
<a name="l00056"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a44bcadcd08a5c494557652d7f75f0e17">00056</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_1geometric_1_1PathGeometric.html#a44bcadcd08a5c494557652d7f75f0e17" title="Assignment operator.">ompl::geometric::PathGeometric::operator=</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &other)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 freeMemory();
<a name="l00059"></a>00059 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="l00060"></a>00060 copyFrom(other);
<a name="l00061"></a>00061 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063
<a name="l00064"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a79b0a01a8075a16666b475e1c0227968">00064</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a79b0a01a8075a16666b475e1c0227968" title="Copy data to this path from another path instance.">ompl::geometric::PathGeometric::copyFrom</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &other)
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 states.resize(other.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size());
<a name="l00067"></a>00067 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < states.size() ; ++i)
<a name="l00068"></a>00068 states[i] = si_->cloneState(other.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i]);
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00071"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a4b42ad4c2bfbda7d61ba5156f7e25bc6">00071</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a4b42ad4c2bfbda7d61ba5156f7e25bc6" title="Free the memory corresponding to the states on this path.">ompl::geometric::PathGeometric::freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < states.size() ; ++i)
<a name="l00074"></a>00074 si_->freeState(states[i]);
<a name="l00075"></a>00075 }
<a name="l00076"></a>00076
<a name="l00077"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a4fde73b06380b9bcc7080150178574e2">00077</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a4fde73b06380b9bcc7080150178574e2" title="Compute the length of a geometric path (sum of lengths of segments that make up the path)...">ompl::geometric::PathGeometric::length</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00078"></a>00078 <span class="keyword"></span>{
<a name="l00079"></a>00079 <span class="keywordtype">double</span> L = 0.0;
<a name="l00080"></a>00080 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1 ; i < states.size() ; ++i)
<a name="l00081"></a>00081 L += si_->distance(states[i-1], states[i]);
<a name="l00082"></a>00082 <span class="keywordflow">return</span> L;
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#acf32f1979b45d64904711f7b3661fd97">00085</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#acf32f1979b45d64904711f7b3661fd97" title="Compute the clearance of the end points along the path (no interpolation is performed). The clearance for the points is averaged.">ompl::geometric::PathGeometric::clearance</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00086"></a>00086 <span class="keyword"></span>{
<a name="l00087"></a>00087 <span class="keywordtype">double</span> c = 0.0;
<a name="l00088"></a>00088 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < states.size() ; ++i)
<a name="l00089"></a>00089 c += si_->getStateValidityChecker()->clearance(states[i]);
<a name="l00090"></a>00090 <span class="keywordflow">if</span> (states.empty())
<a name="l00091"></a>00091 c = std::numeric_limits<double>::infinity();
<a name="l00092"></a>00092 <span class="keywordflow">else</span>
<a name="l00093"></a>00093 c /= (double)states.size();
<a name="l00094"></a>00094 <span class="keywordflow">return</span> c;
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096
<a name="l00097"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#abe347b38e774fa6f5486db354d48b667">00097</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#abe347b38e774fa6f5486db354d48b667" title="Compute a notion of smootheness for this path. The closer the value is to 0, the smoother the path...">ompl::geometric::PathGeometric::smoothness</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00098"></a>00098 <span class="keyword"></span>{
<a name="l00099"></a>00099 <span class="keywordtype">double</span> s = 0.0;
<a name="l00100"></a>00100 <span class="keywordflow">if</span> (states.size() > 2)
<a name="l00101"></a>00101 {
<a name="l00102"></a>00102 <span class="keywordtype">double</span> a = si_->distance(states[0], states[1]);
<a name="l00103"></a>00103 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 2 ; i < states.size() ; ++i)
<a name="l00104"></a>00104 {
<a name="l00105"></a>00105 <span class="keywordtype">double</span> b = si_->distance(states[i-1], states[i]);
<a name="l00106"></a>00106 <span class="keywordtype">double</span> c = si_->distance(states[i-2], states[i]);
<a name="l00107"></a>00107 <span class="keywordtype">double</span> acosValue = (a*a + b*b - c*c) / (2.0*a*b);
<a name="l00108"></a>00108 <span class="keywordflow">if</span> (acosValue > -1.0 && acosValue < 1.0)
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 <span class="keywordtype">double</span> angle = (boost::math::constants::pi<double>() - acos(acosValue));
<a name="l00111"></a>00111 <span class="keywordtype">double</span> k = 2.0 * angle / (a + b);
<a name="l00112"></a>00112 s += k * k;
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114 a = b;
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117 <span class="keywordflow">return</span> s;
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119
<a name="l00120"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ad73ad8a0b425d3c34280c8ba9289bba2">00120</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ad73ad8a0b425d3c34280c8ba9289bba2" title="Check if the path is valid.">ompl::geometric::PathGeometric::check</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00121"></a>00121 <span class="keyword"></span>{
<a name="l00122"></a>00122 <span class="keywordtype">bool</span> result = <span class="keyword">true</span>;
<a name="l00123"></a>00123 <span class="keywordflow">if</span> (states.size() > 0)
<a name="l00124"></a>00124 {
<a name="l00125"></a>00125 <span class="keywordflow">if</span> (si_->isValid(states[0]))
<a name="l00126"></a>00126 {
<a name="l00127"></a>00127 <span class="keywordtype">int</span> last = states.size() - 1;
<a name="l00128"></a>00128 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0 ; result && j < last ; ++j)
<a name="l00129"></a>00129 <span class="keywordflow">if</span> (!si_->checkMotion(states[j], states[j + 1]))
<a name="l00130"></a>00130 result = <span class="keyword">false</span>;
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132 <span class="keywordflow">else</span>
<a name="l00133"></a>00133 result = <span class="keyword">false</span>;
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="keywordflow">return</span> result;
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138
<a name="l00139"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a7a27d7d046e4fc52a18966cec79adbc1">00139</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a7a27d7d046e4fc52a18966cec79adbc1" title="Print the path to a stream.">ompl::geometric::PathGeometric::print</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00140"></a>00140 <span class="keyword"></span>{
<a name="l00141"></a>00141 out << <span class="stringliteral">"Geometric path with "</span> << states.size() << <span class="stringliteral">" states"</span> << std::endl;
<a name="l00142"></a>00142 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < states.size() ; ++i)
<a name="l00143"></a>00143 si_->printState(states[i], out);
<a name="l00144"></a>00144 out << std::endl;
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146
<a name="l00147"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a348f26bf4989964dddf791ef746a9098">00147</a> std::pair<bool, bool> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a348f26bf4989964dddf791ef746a9098" title="Check if the path is valid. If it is not, attempts are made to fix the path by sampling around invali...">ompl::geometric::PathGeometric::checkAndRepair</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts)
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149 <span class="keywordflow">if</span> (states.empty())
<a name="l00150"></a>00150 <span class="keywordflow">return</span> std::make_pair(<span class="keyword">true</span>, <span class="keyword">true</span>);
<a name="l00151"></a>00151 <span class="keywordflow">if</span> (states.size() == 1)
<a name="l00152"></a>00152 {
<a name="l00153"></a>00153 <span class="keywordtype">bool</span> result = si_->isValid(states[0]);
<a name="l00154"></a>00154 <span class="keywordflow">return</span> std::make_pair(result, result);
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="comment">// a path with invalid endpoints cannot be fixed; planners should not return such paths anyway</span>
<a name="l00158"></a>00158 <span class="keyword">const</span> <span class="keywordtype">int</span> n1 = states.size() - 1;
<a name="l00159"></a>00159 <span class="keywordflow">if</span> (!si_->isValid(states[0]) || !si_->isValid(states[n1]))
<a name="l00160"></a>00160 <span class="keywordflow">return</span> std::make_pair(<span class="keyword">false</span>, <span class="keyword">false</span>);
<a name="l00161"></a>00161
<a name="l00162"></a>00162 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *temp = NULL;
<a name="l00163"></a>00163 <a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html" title="A state sampler that only samples valid states, uniformly.">base::UniformValidStateSampler</a> *uvss = NULL;
<a name="l00164"></a>00164 <span class="keywordtype">bool</span> result = <span class="keyword">true</span>;
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1 ; i < n1 ; ++i)
<a name="l00167"></a>00167 <span class="keywordflow">if</span> (!si_->checkMotion(states[i-1], states[i]))
<a name="l00168"></a>00168 {
<a name="l00169"></a>00169 <span class="comment">// we now compute a state around which to sample</span>
<a name="l00170"></a>00170 <span class="keywordflow">if</span> (!temp)
<a name="l00171"></a>00171 temp = si_->allocState();
<a name="l00172"></a>00172 <span class="keywordflow">if</span> (!uvss)
<a name="l00173"></a>00173 {
<a name="l00174"></a>00174 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_.get());
<a name="l00175"></a>00175 uvss-><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="l00176"></a>00176 }
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="comment">// and a radius of sampling around that state</span>
<a name="l00179"></a>00179 <span class="keywordtype">double</span> radius = 0.0;
<a name="l00180"></a>00180
<a name="l00181"></a>00181 <span class="keywordflow">if</span> (si_->isValid(states[i]))
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183 si_->copyState(temp, states[i]);
<a name="l00184"></a>00184 radius = si_->distance(states[i-1], states[i]);
<a name="l00185"></a>00185 }
<a name="l00186"></a>00186 <span class="keywordflow">else</span>
<a name="l00187"></a>00187 {
<a name="l00188"></a>00188 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nextValid = n1;
<a name="l00189"></a>00189 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = i + 1 ; j < n1 ; ++j)
<a name="l00190"></a>00190 <span class="keywordflow">if</span> (si_->isValid(states[j]))
<a name="l00191"></a>00191 {
<a name="l00192"></a>00192 nextValid = j;
<a name="l00193"></a>00193 <span class="keywordflow">break</span>;
<a name="l00194"></a>00194 }
<a name="l00195"></a>00195 <span class="comment">// we know nextValid will be initialised because n1 is certainly valid.</span>
<a name="l00196"></a>00196 si_->getStateSpace()->interpolate(states[i - 1], states[nextValid], 0.5, temp);
<a name="l00197"></a>00197 radius = std::max(si_->distance(states[i-1], temp), si_->distance(states[i-1], states[i]));
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199
<a name="l00200"></a>00200 <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;
<a name="l00201"></a>00201
<a name="l00202"></a>00202 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> a = 0 ; a < attempts ; ++a)
<a name="l00203"></a>00203 <span class="keywordflow">if</span> (uvss-><a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html#a57f0088c965889490906f71ce4c64397" title="Sample a state near another, within specified distance. Return false, in case of failure.">sampleNear</a>(states[i], temp, radius))
<a name="l00204"></a>00204 {
<a name="l00205"></a>00205 <span class="keywordflow">if</span> (si_->checkMotion(states[i-1], states[i]))
<a name="l00206"></a>00206 {
<a name="l00207"></a>00207 success = <span class="keyword">true</span>;
<a name="l00208"></a>00208 <span class="keywordflow">break</span>;
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210 }
<a name="l00211"></a>00211 <span class="keywordflow">else</span>
<a name="l00212"></a>00212 <span class="keywordflow">break</span>;
<a name="l00213"></a>00213 <span class="keywordflow">if</span> (!success)
<a name="l00214"></a>00214 {
<a name="l00215"></a>00215 result = <span class="keyword">false</span>;
<a name="l00216"></a>00216 <span class="keywordflow">break</span>;
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218 }
<a name="l00219"></a>00219
<a name="l00220"></a>00220 <span class="comment">// free potentially allocated memory</span>
<a name="l00221"></a>00221 <span class="keywordflow">if</span> (temp)
<a name="l00222"></a>00222 si_->freeState(temp);
<a name="l00223"></a>00223 <span class="keywordtype">bool</span> originalValid = uvss == NULL;
<a name="l00224"></a>00224 <span class="keywordflow">if</span> (uvss)
<a name="l00225"></a>00225 <span class="keyword">delete</span> uvss;
<a name="l00226"></a>00226
<a name="l00227"></a>00227 <span class="keywordflow">return</span> std::make_pair(originalValid, result);
<a name="l00228"></a>00228 }
<a name="l00229"></a>00229
<a name="l00230"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a25f2ba684dce223adba8a3d896934e2a">00230</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a25f2ba684dce223adba8a3d896934e2a" title="Add a state at the middle of each segment.">ompl::geometric::PathGeometric::subdivide</a>(<span class="keywordtype">void</span>)
<a name="l00231"></a>00231 {
<a name="l00232"></a>00232 <span class="keywordflow">if</span> (states.size() < 2)
<a name="l00233"></a>00233 <span class="keywordflow">return</span>;
<a name="l00234"></a>00234 std::vector<base::State*> newStates(1, states[0]);
<a name="l00235"></a>00235 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1 ; i < states.size() ; ++i)
<a name="l00236"></a>00236 {
<a name="l00237"></a>00237 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *temp = si_->allocState();
<a name="l00238"></a>00238 si_->getStateSpace()->interpolate(newStates.back(), states[i], 0.5, temp);
<a name="l00239"></a>00239 newStates.push_back(temp);
<a name="l00240"></a>00240 newStates.push_back(states[i]);
<a name="l00241"></a>00241 }
<a name="l00242"></a>00242 states.swap(newStates);
<a name="l00243"></a>00243 }
<a name="l00244"></a>00244
<a name="l00245"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1fa9d71073d2098993f96f056f69216e">00245</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1fa9d71073d2098993f96f056f69216e" title="Insert a number of states in a path so that the path is made up of (approximately) the states checked...">ompl::geometric::PathGeometric::interpolate</a>(<span class="keywordtype">void</span>)
<a name="l00246"></a>00246 {
<a name="l00247"></a>00247 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n = 0;
<a name="l00248"></a>00248 <span class="keyword">const</span> <span class="keywordtype">int</span> n1 = states.size() - 1;
<a name="l00249"></a>00249 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0 ; i < n1 ; ++i)
<a name="l00250"></a>00250 n += si_->getStateSpace()->validSegmentCount(states[i], states[i + 1]);
<a name="l00251"></a>00251 interpolate(n);
<a name="l00252"></a>00252 }
<a name="l00253"></a>00253
<a name="l00254"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a29c50018bc71d4d25b0f8e4d3e97aecd">00254</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1fa9d71073d2098993f96f056f69216e" title="Insert a number of states in a path so that the path is made up of (approximately) the states checked...">ompl::geometric::PathGeometric::interpolate</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> requestCount)
<a name="l00255"></a>00255 {
<a name="l00256"></a>00256 <span class="keywordflow">if</span> (requestCount < states.size() || states.size() < 2)
<a name="l00257"></a>00257 <span class="keywordflow">return</span>;
<a name="l00258"></a>00258
<a name="l00259"></a>00259 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> count = requestCount;
<a name="l00260"></a>00260
<a name="l00261"></a>00261 <span class="comment">// the remaining length of the path we need to add states along</span>
<a name="l00262"></a>00262 <span class="keywordtype">double</span> remainingLength = length();
<a name="l00263"></a>00263
<a name="l00264"></a>00264 <span class="comment">// the new array of states this path will have</span>
<a name="l00265"></a>00265 std::vector<base::State*> newStates;
<a name="l00266"></a>00266 <span class="keyword">const</span> <span class="keywordtype">int</span> n1 = states.size() - 1;
<a name="l00267"></a>00267
<a name="l00268"></a>00268 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0 ; i < n1 ; ++i)
<a name="l00269"></a>00269 {
<a name="l00270"></a>00270 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *s1 = states[i];
<a name="l00271"></a>00271 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *s2 = states[i + 1];
<a name="l00272"></a>00272
<a name="l00273"></a>00273 newStates.push_back(s1);
<a name="l00274"></a>00274
<a name="l00275"></a>00275 <span class="comment">// the maximum number of states that can be added on the current motion (without its endpoints)</span>
<a name="l00276"></a>00276 <span class="comment">// such that we can at least fit the remaining states</span>
<a name="l00277"></a>00277 <span class="keywordtype">int</span> maxNStates = count + i - states.size();
<a name="l00278"></a>00278
<a name="l00279"></a>00279 <span class="keywordflow">if</span> (maxNStates > 0)
<a name="l00280"></a>00280 {
<a name="l00281"></a>00281 <span class="comment">// compute an approximate number of states the following segment needs to contain; this includes endpoints</span>
<a name="l00282"></a>00282 <span class="keywordtype">double</span> segmentLength = si_->distance(s1, s2);
<a name="l00283"></a>00283 <span class="keywordtype">int</span> ns = i + 1 == n1 ? maxNStates + 2 : (int)floor(0.5 + (<span class="keywordtype">double</span>)count * segmentLength / remainingLength) + 1;
<a name="l00284"></a>00284
<a name="l00285"></a>00285 <span class="comment">// if more than endpoints are needed</span>
<a name="l00286"></a>00286 <span class="keywordflow">if</span> (ns > 2)
<a name="l00287"></a>00287 {
<a name="l00288"></a>00288 ns -= 2; <span class="comment">// subtract endpoints</span>
<a name="l00289"></a>00289
<a name="l00290"></a>00290 <span class="comment">// make sure we don't add too many states</span>
<a name="l00291"></a>00291 <span class="keywordflow">if</span> (ns > maxNStates)
<a name="l00292"></a>00292 ns = maxNStates;
<a name="l00293"></a>00293
<a name="l00294"></a>00294 <span class="comment">// compute intermediate states</span>
<a name="l00295"></a>00295 std::vector<base::State*> block;
<a name="l00296"></a>00296 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ans = si_->getMotionStates(s1, s2, block, ns, <span class="keyword">false</span>, <span class="keyword">true</span>);
<a name="l00297"></a>00297 <span class="comment">// sanity checks</span>
<a name="l00298"></a>00298 <span class="keywordflow">if</span> ((<span class="keywordtype">int</span>)ans != ns || block.size() != ans)
<a name="l00299"></a>00299 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Internal error in path interpolation. Incorrect number of intermediate states. Please contact the developers."</span>);
<a name="l00300"></a>00300
<a name="l00301"></a>00301 newStates.insert(newStates.end(), block.begin(), block.end());
<a name="l00302"></a>00302 }
<a name="l00303"></a>00303 <span class="keywordflow">else</span>
<a name="l00304"></a>00304 ns = 0;
<a name="l00305"></a>00305
<a name="l00306"></a>00306 <span class="comment">// update what remains to be done</span>
<a name="l00307"></a>00307 count -= (ns + 1);
<a name="l00308"></a>00308 remainingLength -= segmentLength;
<a name="l00309"></a>00309 }
<a name="l00310"></a>00310 <span class="keywordflow">else</span>
<a name="l00311"></a>00311 count--;
<a name="l00312"></a>00312 }
<a name="l00313"></a>00313
<a name="l00314"></a>00314 <span class="comment">// add the last state</span>
<a name="l00315"></a>00315 newStates.push_back(states[n1]);
<a name="l00316"></a>00316 states.swap(newStates);
<a name="l00317"></a>00317 <span class="keywordflow">if</span> (requestCount != states.size())
<a name="l00318"></a>00318 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Internal error in path interpolation. This should never happen. Please contact the developers."</span>);
<a name="l00319"></a>00319 }
<a name="l00320"></a>00320
<a name="l00321"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ae4b56284e4b049df559fcb1320f69fa5">00321</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ae4b56284e4b049df559fcb1320f69fa5" title="Reverse the path.">ompl::geometric::PathGeometric::reverse</a>(<span class="keywordtype">void</span>)
<a name="l00322"></a>00322 {
<a name="l00323"></a>00323 std::reverse(states.begin(), states.end());
<a name="l00324"></a>00324 }
<a name="l00325"></a>00325
<a name="l00326"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3f6694c69e6e19c1f6961f5e47db4440">00326</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3f6694c69e6e19c1f6961f5e47db4440" title="Set this path to a random segment.">ompl::geometric::PathGeometric::random</a>(<span class="keywordtype">void</span>)
<a name="l00327"></a>00327 {
<a name="l00328"></a>00328 freeMemory();
<a name="l00329"></a>00329 states.resize(2);
<a name="l00330"></a>00330 states[0] = si_->allocState();
<a name="l00331"></a>00331 states[1] = si_->allocState();
<a name="l00332"></a>00332 <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_->allocStateSampler();
<a name="l00333"></a>00333 ss->sampleUniform(states[0]);
<a name="l00334"></a>00334 ss->sampleUniform(states[1]);
<a name="l00335"></a>00335 }
<a name="l00336"></a>00336
<a name="l00337"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1441132f612f309257fb172def71de1a">00337</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a1441132f612f309257fb172def71de1a" title="Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success.">ompl::geometric::PathGeometric::randomValid</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts)
<a name="l00338"></a>00338 {
<a name="l00339"></a>00339 freeMemory();
<a name="l00340"></a>00340 states.resize(2);
<a name="l00341"></a>00341 states[0] = si_->allocState();
<a name="l00342"></a>00342 states[1] = si_->allocState();
<a name="l00343"></a>00343 <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_.get());
<a name="l00344"></a>00344 uvss-><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="l00345"></a>00345 <span class="keywordtype">bool</span> ok = <span class="keyword">false</span>;
<a name="l00346"></a>00346 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < attempts ; ++i)
<a name="l00347"></a>00347 {
<a name="l00348"></a>00348 <span class="keywordflow">if</span> (uvss-><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]) && uvss-><a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html#a8e0136c7ed25a4bfd552c6cabaebcdb3" title="Sample a state. Return false in case of failure.">sample</a>(states[1]))
<a name="l00349"></a>00349 <span class="keywordflow">if</span> (si_->checkMotion(states[0], states[1]))
<a name="l00350"></a>00350 {
<a name="l00351"></a>00351 ok = <span class="keyword">true</span>;
<a name="l00352"></a>00352 <span class="keywordflow">break</span>;
<a name="l00353"></a>00353 }
<a name="l00354"></a>00354 }
<a name="l00355"></a>00355 <span class="keyword">delete</span> uvss;
<a name="l00356"></a>00356 <span class="keywordflow">if</span> (!ok)
<a name="l00357"></a>00357 {
<a name="l00358"></a>00358 freeMemory();
<a name="l00359"></a>00359 states.clear();
<a name="l00360"></a>00360 }
<a name="l00361"></a>00361 <span class="keywordflow">return</span> ok;
<a name="l00362"></a>00362 }
<a name="l00363"></a>00363
<a name="l00364"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#addc7c545fa8a284978c1e1e016425779">00364</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#addc7c545fa8a284978c1e1e016425779" title="Overlay the path over on top of the current path. States are added to the current path if needed (by ...">ompl::geometric::PathGeometric::overlay</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &over, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> startIndex)
<a name="l00365"></a>00365 {
<a name="l00366"></a>00366 <span class="keywordflow">if</span> (startIndex > states.size())
<a name="l00367"></a>00367 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Index on path is out of bounds"</span>);
<a name="l00368"></a>00368 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> &sm = over.<a class="code" href="classompl_1_1base_1_1Path.html#a87250f099dbe84a3c0ba515360ac4339" title="The space information this path is part of.">si_</a>->getStateSpace();
<a name="l00369"></a>00369 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> &dm = si_->getStateSpace();
<a name="l00370"></a>00370 <span class="keywordtype">bool</span> copy = !states.empty();
<a name="l00371"></a>00371 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0, j = startIndex ; i < over.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() ; ++i, ++j)
<a name="l00372"></a>00372 {
<a name="l00373"></a>00373 <span class="keywordflow">if</span> (j == states.size())
<a name="l00374"></a>00374 {
<a name="l00375"></a>00375 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *s = si_->allocState();
<a name="l00376"></a>00376 <span class="keywordflow">if</span> (copy)
<a name="l00377"></a>00377 si_->copyState(s, states.back());
<a name="l00378"></a>00378 states.push_back(s);
<a name="l00379"></a>00379 }
<a name="l00380"></a>00380
<a name="l00381"></a>00381 copyStateData(dm, states[j], sm, over.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i]);
<a name="l00382"></a>00382 }
<a name="l00383"></a>00383 }
<a name="l00384"></a>00384
<a name="l00385"></a><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#aa054135956c0ce6c7c447451a0a02cbb">00385</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#aa054135956c0ce6c7c447451a0a02cbb" title="Append path at the end of this path.">ompl::geometric::PathGeometric::append</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> &path)
<a name="l00386"></a>00386 {
<a name="l00387"></a>00387 <span class="keywordflow">if</span> (path.<a class="code" href="classompl_1_1base_1_1Path.html#a87250f099dbe84a3c0ba515360ac4339" title="The space information this path is part of.">si_</a>->getStateSpace()->getName() == si_->getStateSpace()->getName())
<a name="l00388"></a>00388 {
<a name="l00389"></a>00389 <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> copy(path);
<a name="l00390"></a>00390 states.insert(states.end(), copy.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.begin(), copy.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.end());
<a name="l00391"></a>00391 copy.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.clear();
<a name="l00392"></a>00392 }
<a name="l00393"></a>00393 <span class="keywordflow">else</span>
<a name="l00394"></a>00394 overlay(path, states.size());
<a name="l00395"></a>00395 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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