demos/Koules/KoulesControlSpace.cpp
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2013, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Beck Chen, Mark Moll */
00036 
00037 #include "KoulesConfig.h"
00038 #include "KoulesStateSpace.h"
00039 #include "KoulesControlSpace.h"
00040 #include <ompl/base/spaces/RealVectorStateSpace.h>
00041 
00042 namespace ob = ompl::base;
00043 namespace oc = ompl::control;
00044 
00045 void KoulesControlSampler::sample(oc::Control *control)
00046 {
00047     const ob::RealVectorBounds &bounds = space_->as<oc::RealVectorControlSpace>()->getBounds();
00048     oc::RealVectorControlSpace::ControlType *rcontrol =
00049         control->as<oc::RealVectorControlSpace::ControlType>();
00050     double r = rng_.uniformReal(bounds.low[0], bounds.high[0]);
00051     double theta = rng_.uniformReal(0., 2. * boost::math::constants::pi<double>());
00052     rcontrol->values[0] = r * cos(theta);
00053     rcontrol->values[1] = r * sin(theta);
00054 }
00055 
00056 void KoulesControlSampler::sample(ompl::control::Control *control, const ompl::base::State *state)
00057 {
00058     steer(control, state, rng_.uniformReal(0., sideLength), rng_.uniformReal(0., sideLength));
00059 }
00060 
00061 void KoulesControlSampler::steer(oc::Control *control, const ob::State *state, double x, double y)
00062 {
00063     const double* r = state->as<KoulesStateSpace::StateType>()->values;
00064     double dx = x - r[0];
00065     double dy = y - r[1];
00066     double xNrm2 = dx * dx + dy * dy;
00067     if (xNrm2 > std::numeric_limits<float>::epsilon())
00068     {
00069         const ob::RealVectorBounds &bounds = space_->as<oc::RealVectorControlSpace>()->getBounds();
00070         double v = rng_.uniformReal(bounds.low[0], bounds.high[0]) / sqrt(xNrm2);
00071         oc::RealVectorControlSpace::ControlType *rcontrol =
00072             control->as<oc::RealVectorControlSpace::ControlType>();
00073         rcontrol->values[0] = v * dx;
00074         rcontrol->values[1] = v * dy;
00075     }
00076     else
00077         sample(control);
00078 }
00079 
00080 KoulesControlSpace::KoulesControlSpace(unsigned int numKoules)
00081     : ompl::control::RealVectorControlSpace(
00082         ompl::base::StateSpacePtr(new KoulesStateSpace(numKoules)), 2)
00083 {
00084     bounds_.setLow(shipVmin);
00085     bounds_.setHigh(shipVmax);
00086 }
00087 
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines