OMPL
Overview
Download
Documentation
Primer
Installation
Tutorials
Demos
Python Bindings
Available Planners
Available State Spaces
FAQ
External links:
OMPL ROS Interface
OMPL ROS Tutorial
Code
API Overview
Classes
Files
Browse Repository
TeamCity Build Server
Issues
Community
Developers
Contributions
Education
Gallery
About
License
Citations
Acknowledgments
Contact Us
Blog
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
All
Classes
Namespaces
Files
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
src
ompl
base
spaces
TimeStateSpace.h
1
/*********************************************************************
2
* Software License Agreement (BSD License)
3
*
4
* Copyright (c) 2010, Rice University
5
* All rights reserved.
6
*
7
* Redistribution and use in source and binary forms, with or without
8
* modification, are permitted provided that the following conditions
9
* are met:
10
*
11
* * Redistributions of source code must retain the above copyright
12
* notice, this list of conditions and the following disclaimer.
13
* * Redistributions in binary form must reproduce the above
14
* copyright notice, this list of conditions and the following
15
* disclaimer in the documentation and/or other materials provided
16
* with the distribution.
17
* * Neither the name of the Rice University nor the names of its
18
* contributors may be used to endorse or promote products derived
19
* from this software without specific prior written permission.
20
*
21
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32
* POSSIBILITY OF SUCH DAMAGE.
33
*********************************************************************/
34
35
/* Author: Ioan Sucan */
36
37
#ifndef OMPL_BASE_SPACES_TIME_STATE_SPACE_
38
#define OMPL_BASE_SPACES_TIME_STATE_SPACE_
39
40
#include "ompl/base/StateSpace.h"
41
42
namespace
ompl
43
{
44
namespace
base
45
{
46
48
class
TimeStateSampler
:
public
StateSampler
49
{
50
public
:
51
53
TimeStateSampler
(
const
StateSpace
*space) :
StateSampler
(space)
54
{
55
}
56
57
virtual
void
sampleUniform
(
State
*state);
58
virtual
void
sampleUniformNear
(
State
*state,
const
State
*near,
const
double
distance);
59
virtual
void
sampleGaussian
(
State
*state,
const
State
*mean,
const
double
stdDev);
60
};
61
71
class
TimeStateSpace
:
public
StateSpace
72
{
73
public
:
74
76
class
StateType
:
public
State
77
{
78
public
:
79
81
double
position
;
82
};
83
84
TimeStateSpace
(
void
) :
StateSpace
(),
bounded_
(false),
minTime_
(0.0),
maxTime_
(0.0)
85
{
86
setName
(
"Time"
+
getName
());
87
type_
=
STATE_SPACE_TIME
;
88
}
89
90
virtual
~
TimeStateSpace
(
void
)
91
{
92
}
93
94
virtual
unsigned
int
getDimension
(
void
)
const
;
95
96
virtual
double
getMaximumExtent
(
void
)
const
;
97
104
void
setBounds
(
double
minTime,
double
maxTime);
105
107
double
getMinTimeBound
(
void
)
const
108
{
109
return
minTime_
;
110
}
111
113
double
getMaxTimeBound
(
void
)
const
114
{
115
return
maxTime_
;
116
}
117
119
bool
isBounded
(
void
)
const
120
{
121
return
bounded_
;
122
}
123
124
virtual
void
enforceBounds
(
State
*state)
const
;
125
126
virtual
bool
satisfiesBounds
(
const
State
*state)
const
;
127
128
virtual
void
copyState
(
State
*destination,
const
State
*source)
const
;
129
130
virtual
unsigned
int
getSerializationLength
(
void
)
const
;
131
132
virtual
void
serialize
(
void
*serialization,
const
State
*state)
const
;
133
134
virtual
void
deserialize
(
State
*state,
const
void
*serialization)
const
;
135
136
virtual
double
distance
(
const
State
*state1,
const
State
*state2)
const
;
137
138
virtual
bool
equalStates
(
const
State
*state1,
const
State
*state2)
const
;
139
140
virtual
void
interpolate
(
const
State
*from,
const
State
*to,
const
double
t,
State
*state)
const
;
141
142
virtual
StateSamplerPtr
allocDefaultStateSampler
(
void
)
const
;
143
144
virtual
State
*
allocState
(
void
)
const
;
145
146
virtual
void
freeState
(
State
*state)
const
;
147
148
virtual
double
*
getValueAddressAtIndex
(
State
*state,
const
unsigned
int
index)
const
;
149
150
virtual
void
printState
(
const
State
*state, std::ostream &out)
const
;
151
152
virtual
void
printSettings
(std::ostream &out)
const
;
153
154
virtual
void
registerProjections
(
void
);
155
156
protected
:
157
159
bool
bounded_
;
160
162
double
minTime_
;
163
165
double
maxTime_
;
166
167
};
168
}
169
}
170
171
#endif