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<div class="title">TimeStateSpace.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/TimeStateSpace.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/tools/config/MagicConstants.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <limits></span>
<a name="l00041"></a>00041
<a name="l00042"></a><a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#ad408d7220cb81899acc17e51fb85c6f7">00042</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#ad408d7220cb81899acc17e51fb85c6f7" title="Sample a state.">ompl::base::TimeStateSampler::sampleUniform</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d" title="The state space this sampler samples.">space_</a>-><a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a9f02b882da1a3598743e4bad0d8d542e" title="Check if the time is bounded or not.">isBounded</a>())
<a name="l00045"></a>00045 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">TimeStateSpace::StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a> = <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>(<a class="code" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d" title="The state space this sampler samples.">space_</a>-><a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#afeecf40e6a375dd28ff383d3c31aa236" title="Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...">getMinTimeBound</a>(),
<a name="l00046"></a>00046 <a class="code" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d" title="The state space this sampler samples.">space_</a>-><a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</a>>()->getMaxTimeBound());
<a name="l00047"></a>00047 <span class="keywordflow">else</span>
<a name="l00048"></a>00048 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">TimeStateSpace::StateType</a>>()->position = 0.0;
<a name="l00049"></a>00049 }
<a name="l00050"></a>00050
<a name="l00051"></a><a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#ae5ced5a19e9743283fe3f89cd82c047c">00051</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#ae5ced5a19e9743283fe3f89cd82c047c" title="Sample a state near another, within specified distance.">ompl::base::TimeStateSampler::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="l00052"></a>00052 {
<a name="l00053"></a>00053 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">TimeStateSpace::StateType</a>>()->position =
<a name="l00054"></a>00054 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">TimeStateSpace::StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a> - distance,
<a name="l00055"></a>00055 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">TimeStateSpace::StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a> + distance);
<a name="l00056"></a>00056 space_->enforceBounds(state);
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058
<a name="l00059"></a><a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#a7ea58f50c7bdc1f1c847885ac0d850cf">00059</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#a7ea58f50c7bdc1f1c847885ac0d850cf" title="Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...">ompl::base::TimeStateSampler::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="l00060"></a>00060 {
<a name="l00061"></a>00061 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">TimeStateSpace::StateType</a>>()->position =
<a name="l00062"></a>00062 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">TimeStateSpace::StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a>, stdDev);
<a name="l00063"></a>00063 space_->enforceBounds(state);
<a name="l00064"></a>00064 }
<a name="l00065"></a>00065
<a name="l00066"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#aa4d3b395d10a2c0738a75cc4c86587ee">00066</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#aa4d3b395d10a2c0738a75cc4c86587ee" title="Get the dimension of the space (not the dimension of the surrounding ambient space)">ompl::base::TimeStateSpace::getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00067"></a>00067 <span class="keyword"></span>{
<a name="l00068"></a>00068 <span class="keywordflow">return</span> 1;
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00071"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a3c51355b0e7e620ba7da19c85cac93ee">00071</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a3c51355b0e7e620ba7da19c85cac93ee" title="Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...">ompl::base::TimeStateSpace::setBounds</a>(<span class="keywordtype">double</span> minTime, <span class="keywordtype">double</span> maxTime)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 <span class="keywordflow">if</span> (minTime > maxTime)
<a name="l00074"></a>00074 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"The maximum position in time cannot be before the minimum position in time"</span>);
<a name="l00075"></a>00075
<a name="l00076"></a>00076 minTime_ = minTime;
<a name="l00077"></a>00077 maxTime_ = maxTime;
<a name="l00078"></a>00078 bounded_ = <span class="keyword">true</span>;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080
<a name="l00081"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a8ec7091055790c74a37d0657fcf50a9b">00081</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a8ec7091055790c74a37d0657fcf50a9b" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">ompl::base::TimeStateSpace::getMaximumExtent</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00082"></a>00082 <span class="keyword"></span>{
<a name="l00083"></a>00083 <span class="keywordflow">return</span> bounded_ ? maxTime_ - minTime_ : 1.0;
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085
<a name="l00086"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#ae7b9f46ae062b26b9addb4504be6d7f9">00086</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#ae7b9f46ae062b26b9addb4504be6d7f9" title="Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...">ompl::base::TimeStateSpace::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="l00087"></a>00087 <span class="keyword"></span>{
<a name="l00088"></a>00088 <span class="keywordflow">if</span> (bounded_)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keywordflow">if</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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a> > maxTime_)
<a name="l00091"></a>00091 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()->position = maxTime_;
<a name="l00092"></a>00092 <span class="keywordflow">else</span>
<a name="l00093"></a>00093 <span class="keywordflow">if</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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a> < minTime_)
<a name="l00094"></a>00094 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a> = minTime_;
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097
<a name="l00098"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a91ff776b4e89de630adaf1225864010c">00098</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a91ff776b4e89de630adaf1225864010c" title="Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...">ompl::base::TimeStateSpace::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="l00099"></a>00099 <span class="keyword"></span>{
<a name="l00100"></a>00100 <span class="keywordflow">return</span> !bounded_ || (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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()->position >= minTime_ - std::numeric_limits<double>::epsilon() &&
<a name="l00101"></a>00101 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()->position <= maxTime_ + std::numeric_limits<double>::epsilon());
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103
<a name="l00104"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a9b9515b09b9468cbbb066966a8536b95">00104</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a9b9515b09b9468cbbb066966a8536b95" title="Copy a state to another. The memory of source and destination should NOT overlap.">ompl::base::TimeStateSpace::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="l00105"></a>00105 <span class="keyword"></span>{
<a name="l00106"></a>00106 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()->position = 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a>;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108
<a name="l00109"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a0beadc19acae61a5d3ffd7a0bdef4a97">00109</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a0beadc19acae61a5d3ffd7a0bdef4a97" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">ompl::base::TimeStateSpace::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="l00110"></a>00110 <span class="keyword"></span>{
<a name="l00111"></a>00111 <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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a>);
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113
<a name="l00114"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a61068ae7583855daa875967cd1dd754a">00114</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a61068ae7583855daa875967cd1dd754a" title="Checks whether two states are equal.">ompl::base::TimeStateSpace::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="l00115"></a>00115 <span class="keyword"></span>{
<a name="l00116"></a>00116 <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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a>) < std::numeric_limits<double>::epsilon() * 2.0;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a0ac7e7a5df135b960417b41943d10c4a">00119</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a0ac7e7a5df135b960417b41943d10c4a" title="Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...">ompl::base::TimeStateSpace::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="l00120"></a>00120 <span class="keyword"></span>{
<a name="l00121"></a>00121 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()->position = 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a> +
<a name="l00122"></a>00122 (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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()->position - 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a>) * t;
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124
<a name="l00125"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a5e59d699cdc468c0488281800b276992">00125</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_1TimeStateSpace.html#a5e59d699cdc468c0488281800b276992" title="Allocate an instance of a uniform state sampler for this space.">ompl::base::TimeStateSpace::allocStateSampler</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00126"></a>00126 <span class="keyword"></span>{
<a name="l00127"></a>00127 <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_1TimeStateSampler.html" title="State space sampler for time.">TimeStateSampler</a>(<span class="keyword">this</span>));
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129
<a name="l00130"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#aa25e567f290890387fff121fad0ade7c">00130</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_1TimeStateSpace.html#aa25e567f290890387fff121fad0ade7c" title="Allocate a state that can store a point in the described space.">ompl::base::TimeStateSpace::allocState</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00131"></a>00131 <span class="keyword"></span>{
<a name="l00132"></a>00132 <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>();
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134
<a name="l00135"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#ac7c2385bce5f29772fbdbf1ff8d1d962">00135</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#ac7c2385bce5f29772fbdbf1ff8d1d962" title="Free the memory of the allocated state.">ompl::base::TimeStateSpace::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="l00136"></a>00136 <span class="keyword"></span>{
<a name="l00137"></a>00137 <span class="keyword">delete</span> <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>*<span class="keyword">></span>(state);
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139
<a name="l00140"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a39bdcea5c39ae917cf3ca0d6d86276e1">00140</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a39bdcea5c39ae917cf3ca0d6d86276e1" title="Register the projections for this state space. Usually, this is at least the default projection...">ompl::base::TimeStateSpace::registerProjections</a>(<span class="keywordtype">void</span>)
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 <span class="keyword">class </span>TimeDefaultProjection : <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="l00143"></a>00143 {
<a name="l00144"></a>00144 <span class="keyword">public</span>:
<a name="l00145"></a>00145
<a name="l00146"></a>00146 TimeDefaultProjection(<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="l00147"></a>00147 {
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <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="l00151"></a>00151 <span class="keyword"> </span>{
<a name="l00152"></a>00152 <span class="keywordflow">return</span> 1;
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154
<a name="l00155"></a>00155 <span class="keyword">virtual</span> <span class="keywordtype">void</span> defaultCellSizes(<span class="keywordtype">void</span>)
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157 cellSizes_.resize(1);
<a name="l00158"></a>00158 <span class="keywordflow">if</span> (space_->as<<a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a9f02b882da1a3598743e4bad0d8d542e" title="Check if the time is bounded or not.">isBounded</a>())
<a name="l00159"></a>00159 cellSizes_[0] = (space_->as<<a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</a>>()-><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a2e319f80c2bf7d1d83a278007569d11b" title="Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded...">getMaxTimeBound</a>() - space_->as<<a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</a>>()->getMinTimeBound()) / <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="l00160"></a>00160 <span class="keywordflow">else</span>
<a name="l00161"></a>00161 cellSizes_[0] = 1.0;
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <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="l00165"></a>00165 <span class="keyword"> </span>{
<a name="l00166"></a>00166 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">TimeStateSpace::StateType</a>>()->position;
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168 };
<a name="l00169"></a>00169
<a name="l00170"></a>00170 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> TimeDefaultProjection(<span class="keyword">this</span>))));
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172
<a name="l00173"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#af90393504dc7f6a8f7eb335aadc6d590">00173</a> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#af90393504dc7f6a8f7eb335aadc6d590" title="Many states contain a number of double values. This function provides a means to get the memory addre...">ompl::base::TimeStateSpace::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="l00174"></a>00174 <span class="keyword"></span>{
<a name="l00175"></a>00175 <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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()->position) : NULL;
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177
<a name="l00178"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#ac9c9e77094d2c0622912064e5afd11de">00178</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#ac9c9e77094d2c0622912064e5afd11de" title="Print a state to a stream.">ompl::base::TimeStateSpace::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="l00179"></a>00179 <span class="keyword"></span>{
<a name="l00180"></a>00180 out << <span class="stringliteral">"TimeState ["</span>;
<a name="l00181"></a>00181 <span class="keywordflow">if</span> (state)
<a name="l00182"></a>00182 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_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">StateType</a>>()->position;
<a name="l00183"></a>00183 <span class="keywordflow">else</span>
<a name="l00184"></a>00184 out << <span class="stringliteral">"NULL"</span>;
<a name="l00185"></a>00185 out << <span class="charliteral">']'</span> << std::endl;
<a name="l00186"></a>00186 }
<a name="l00187"></a>00187
<a name="l00188"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#aaffe60cdcb2253b38666ce35538a5250">00188</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#aaffe60cdcb2253b38666ce35538a5250" title="Print the settings for this state space to a stream.">ompl::base::TimeStateSpace::printSettings</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00189"></a>00189 <span class="keyword"></span>{
<a name="l00190"></a>00190 out << <span class="stringliteral">"Time state space '"</span> << getName() << <span class="stringliteral">"'"</span> << std::endl;
<a name="l00191"></a>00191 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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<a href="http://www.rice.edu">Rice University</a><br>
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