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<div class="title">SO2StateSpace.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/base/spaces/SO2StateSpace.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <algorithm></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <limits></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <cmath></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/tools/config/MagicConstants.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <boost/math/constants/constants.hpp></span>
<a name="l00043"></a>00043
<a name="l00044"></a><a class="code" href="classompl_1_1base_1_1SO2StateSampler.html#aeb783209f2ff23161e9d4e212c9bb42f">00044</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSampler.html#aeb783209f2ff23161e9d4e212c9bb42f" title="Sample a state.">ompl::base::SO2StateSampler::sampleUniform</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">SO2StateSpace::StateType</a>>()->value =
<a name="l00047"></a>00047 <a class="code" href="classompl_1_1base_1_1StateSampler.html#ad8b2f106c42eaa4788bb6914cd5371fb" title="An instance of a random number generator.">rng_</a>.<a class="code" href="classompl_1_1RNG.html#a691ddf8d21630c69d4ba3f8b1f8c449f" title="Generate a random real within given bounds: [lower_bound, upper_bound)">uniformReal</a>(-boost::math::constants::pi<double>(), boost::math::constants::pi<double>());
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049
<a name="l00050"></a><a class="code" href="classompl_1_1base_1_1SO2StateSampler.html#a270084c2f9c4ebbf7c7b3a641673d47c">00050</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSampler.html#a270084c2f9c4ebbf7c7b3a641673d47c" title="Sample a state near another, within specified distance.">ompl::base::SO2StateSampler::sampleUniformNear</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> distance)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">SO2StateSpace::StateType</a>>()->value = rng_.uniformReal(near-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">SO2StateSpace::StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a> - distance,
<a name="l00053"></a>00053 near-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">SO2StateSpace::StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a> + distance);
<a name="l00054"></a>00054 space_->enforceBounds(state);
<a name="l00055"></a>00055 }
<a name="l00056"></a>00056
<a name="l00057"></a><a class="code" href="classompl_1_1base_1_1SO2StateSampler.html#a2e37a6792d0e341cf3e944ee9c5b7829">00057</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSampler.html#a2e37a6792d0e341cf3e944ee9c5b7829" title="Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...">ompl::base::SO2StateSampler::sampleGaussian</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *mean, <span class="keyword">const</span> <span class="keywordtype">double</span> stdDev)
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">SO2StateSpace::StateType</a>>()->value = rng_.gaussian(mean-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">SO2StateSpace::StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a>, stdDev);
<a name="l00060"></a>00060 space_->enforceBounds(state);
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062
<a name="l00063"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#ad276b0f2eefb73a8fbfb9cef76cfe4d9">00063</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#ad276b0f2eefb73a8fbfb9cef76cfe4d9" title="Get the dimension of the space (not the dimension of the surrounding ambient space)">ompl::base::SO2StateSpace::getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00064"></a>00064 <span class="keyword"></span>{
<a name="l00065"></a>00065 <span class="keywordflow">return</span> 1;
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a73bd1d72deeb2f82bc21e83916ab4950">00068</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a73bd1d72deeb2f82bc21e83916ab4950" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">ompl::base::SO2StateSpace::getMaximumExtent</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00069"></a>00069 <span class="keyword"></span>{
<a name="l00070"></a>00070 <span class="keywordflow">return</span> boost::math::constants::pi<double>();
<a name="l00071"></a>00071 }
<a name="l00072"></a>00072
<a name="l00073"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a238e79ef287dc8bb3d728110f0f29ea1">00073</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a238e79ef287dc8bb3d728110f0f29ea1" title="Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...">ompl::base::SO2StateSpace::enforceBounds</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00074"></a>00074 <span class="keyword"></span>{
<a name="l00075"></a>00075 <span class="keywordtype">double</span> v = fmod(state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a>, 2.0 * boost::math::constants::pi<double>());
<a name="l00076"></a>00076 <span class="keywordflow">if</span> (v < -boost::math::constants::pi<double>())
<a name="l00077"></a>00077 v += 2.0 * boost::math::constants::pi<double>();
<a name="l00078"></a>00078 <span class="keywordflow">else</span>
<a name="l00079"></a>00079 <span class="keywordflow">if</span> (v > boost::math::constants::pi<double>())
<a name="l00080"></a>00080 v -= 2.0 * boost::math::constants::pi<double>();
<a name="l00081"></a>00081 state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value = v;
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a627f6f6555b06e835a3a189ac1c5c83f">00084</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a627f6f6555b06e835a3a189ac1c5c83f" title="Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...">ompl::base::SO2StateSpace::satisfiesBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00085"></a>00085 <span class="keyword"></span>{
<a name="l00086"></a>00086 <span class="keywordflow">return</span> (state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a> < boost::math::constants::pi<double>() + std::numeric_limits<double>::epsilon()) &&
<a name="l00087"></a>00087 (state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value > -boost::math::constants::pi<double>() - std::numeric_limits<double>::epsilon());
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089
<a name="l00090"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#afa370ede45deafe06b4217cf2641b610">00090</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#afa370ede45deafe06b4217cf2641b610" title="Copy a state to another. The memory of source and destination should NOT overlap.">ompl::base::SO2StateSpace::copyState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *destination, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *source)<span class="keyword"> const</span>
<a name="l00091"></a>00091 <span class="keyword"></span>{
<a name="l00092"></a>00092 destination-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value = source-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a>;
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094
<a name="l00095"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#acd2f2fe4af5e7358d737e992791f38f8">00095</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#acd2f2fe4af5e7358d737e992791f38f8" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">ompl::base::SO2StateSpace::distance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state2)<span class="keyword"> const</span>
<a name="l00096"></a>00096 <span class="keyword"></span>{
<a name="l00097"></a>00097 <span class="comment">// assuming the states 1 & 2 are within bounds</span>
<a name="l00098"></a>00098 <span class="keywordtype">double</span> d = fabs(state1-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a> - state2-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a>);
<a name="l00099"></a>00099 <span class="keywordflow">return</span> (d > boost::math::constants::pi<double>()) ? 2.0 * boost::math::constants::pi<double>() - d : d;
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101
<a name="l00102"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#aeaf8cfe977232479219b98ae2071550a">00102</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#aeaf8cfe977232479219b98ae2071550a" title="Checks whether two states are equal.">ompl::base::SO2StateSpace::equalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state2)<span class="keyword"> const</span>
<a name="l00103"></a>00103 <span class="keyword"></span>{
<a name="l00104"></a>00104 <span class="keywordflow">return</span> fabs(state1-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a> - state2-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a>) < std::numeric_limits<double>::epsilon() * 2.0;
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106
<a name="l00107"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a5439e63ec8bc12a8c6e7ffbab557dcf5">00107</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a5439e63ec8bc12a8c6e7ffbab557dcf5" title="Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...">ompl::base::SO2StateSpace::interpolate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *to, <span class="keyword">const</span> <span class="keywordtype">double</span> t, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00108"></a>00108 <span class="keyword"></span>{
<a name="l00109"></a>00109 <span class="keywordtype">double</span> diff = to-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value - from-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a>;
<a name="l00110"></a>00110 <span class="keywordflow">if</span> (fabs(diff) <= boost::math::constants::pi<double>())
<a name="l00111"></a>00111 state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value = from-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#af918005e3a0679ed8ff2c9d1252f6bd5" title="The value of the angle (between -PI and PI)">value</a> + diff * t;
<a name="l00112"></a>00112 <span class="keywordflow">else</span>
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 <span class="keywordtype">double</span> &v = state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value;
<a name="l00115"></a>00115 <span class="keywordflow">if</span> (diff > 0.0)
<a name="l00116"></a>00116 diff = 2.0 * boost::math::constants::pi<double>() - diff;
<a name="l00117"></a>00117 <span class="keywordflow">else</span>
<a name="l00118"></a>00118 diff = -2.0 * boost::math::constants::pi<double>() - diff;
<a name="l00119"></a>00119 v = from-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value - diff * t;
<a name="l00120"></a>00120 <span class="comment">// input states are within bounds, so the following check is sufficient</span>
<a name="l00121"></a>00121 <span class="keywordflow">if</span> (v > boost::math::constants::pi<double>())
<a name="l00122"></a>00122 v -= 2.0 * boost::math::constants::pi<double>();
<a name="l00123"></a>00123 <span class="keywordflow">else</span>
<a name="l00124"></a>00124 <span class="keywordflow">if</span> (v < -boost::math::constants::pi<double>())
<a name="l00125"></a>00125 v += 2.0 * boost::math::constants::pi<double>();
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128
<a name="l00129"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a1d8e3f356a104d138c77816467c32ad1">00129</a> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">ompl::base::StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a1d8e3f356a104d138c77816467c32ad1" title="Allocate an instance of a uniform state sampler for this space.">ompl::base::SO2StateSpace::allocStateSampler</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00130"></a>00130 <span class="keyword"></span>{
<a name="l00131"></a>00131 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">StateSamplerPtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SO2StateSampler.html" title="State space sampler for SO(2)">SO2StateSampler</a>(<span class="keyword">this</span>));
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133
<a name="l00134"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a561bec98eacbcb89ee3378372725f880">00134</a> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ompl::base::State</a>* <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a561bec98eacbcb89ee3378372725f880" title="Allocate a state that can store a point in the described space.">ompl::base::SO2StateSpace::allocState</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00135"></a>00135 <span class="keyword"></span>{
<a name="l00136"></a>00136 <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>();
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138
<a name="l00139"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a35c9cce2cc850d669fb890b85bac79d0">00139</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a35c9cce2cc850d669fb890b85bac79d0" title="Free the memory of the allocated state.">ompl::base::SO2StateSpace::freeState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00140"></a>00140 <span class="keyword"></span>{
<a name="l00141"></a>00141 <span class="keyword">delete</span> <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>*<span class="keyword">></span>(state);
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143
<a name="l00144"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a1d68f86fc02094d4668413e4d7c47e93">00144</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a1d68f86fc02094d4668413e4d7c47e93" title="Register the projections for this state space. Usually, this is at least the default projection...">ompl::base::SO2StateSpace::registerProjections</a>(<span class="keywordtype">void</span>)
<a name="l00145"></a>00145 {
<a name="l00146"></a>00146 <span class="keyword">class </span>SO2DefaultProjection : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>
<a name="l00147"></a>00147 {
<a name="l00148"></a>00148 <span class="keyword">public</span>:
<a name="l00149"></a>00149
<a name="l00150"></a>00150 SO2DefaultProjection(<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.">StateSpace</a> *space) : <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>(space)
<a name="l00151"></a>00151 {
<a name="l00152"></a>00152 }
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <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="l00155"></a>00155 <span class="keyword"> </span>{
<a name="l00156"></a>00156 <span class="keywordflow">return</span> 1;
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keyword">virtual</span> <span class="keywordtype">void</span> defaultCellSizes(<span class="keywordtype">void</span>)
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161 cellSizes_.resize(1);
<a name="l00162"></a>00162 cellSizes_[0] = boost::math::constants::pi<double>() / <a class="code" href="namespaceompl_1_1magic.html#a89c2a3791d4d4579c36593a70f00588d" title="When the cell sizes for a projection are automatically computed, this value defines the number of par...">magic::PROJECTION_DIMENSION_SPLITS</a>;
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <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.">State</a> *state, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &projection)<span class="keyword"> const</span>
<a name="l00166"></a>00166 <span class="keyword"> </span>{
<a name="l00167"></a>00167 projection(0) = state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">SO2StateSpace::StateType</a>>()->value;
<a name="l00168"></a>00168 }
<a name="l00169"></a>00169 };
<a name="l00170"></a>00170
<a name="l00171"></a>00171 registerDefaultProjection(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">ProjectionEvaluatorPtr</a>(dynamic_cast<ProjectionEvaluator*>(<span class="keyword">new</span> SO2DefaultProjection(<span class="keyword">this</span>))));
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173
<a name="l00174"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#ae7e2c0c9d3fbe8cb0cbfbc61952d815e">00174</a> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#ae7e2c0c9d3fbe8cb0cbfbc61952d815e" title="Many states contain a number of double values. This function provides a means to get the memory addre...">ompl::base::SO2StateSpace::getValueAddressAtIndex</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00175"></a>00175 <span class="keyword"></span>{
<a name="l00176"></a>00176 <span class="keywordflow">return</span> index == 0 ? &(state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value) : NULL;
<a name="l00177"></a>00177 }
<a name="l00178"></a>00178
<a name="l00179"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a25c4dd29e78d3b1b4a7eb57dc384dca4">00179</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a25c4dd29e78d3b1b4a7eb57dc384dca4" title="Print a state to a stream.">ompl::base::SO2StateSpace::printState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, std::ostream &out)<span class="keyword"> const</span>
<a name="l00180"></a>00180 <span class="keyword"></span>{
<a name="l00181"></a>00181 out << <span class="stringliteral">"SO2State ["</span>;
<a name="l00182"></a>00182 <span class="keywordflow">if</span> (state)
<a name="l00183"></a>00183 out << state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)">StateType</a>>()->value;
<a name="l00184"></a>00184 <span class="keywordflow">else</span>
<a name="l00185"></a>00185 out << <span class="stringliteral">"NULL"</span>;
<a name="l00186"></a>00186 out << <span class="charliteral">']'</span> << std::endl;
<a name="l00187"></a>00187 }
<a name="l00188"></a>00188
<a name="l00189"></a><a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a053148b4abd31221424589a90fa9a72d">00189</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO2StateSpace.html#a053148b4abd31221424589a90fa9a72d" title="Print the settings for this state space to a stream.">ompl::base::SO2StateSpace::printSettings</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00190"></a>00190 <span class="keyword"></span>{
<a name="l00191"></a>00191 out << <span class="stringliteral">"SO2 state space '"</span> << getName() << <span class="stringliteral">"'"</span> << std::endl;
<a name="l00192"></a>00192 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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