ompl/base/spaces/src/TimeStateSpace.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/spaces/TimeStateSpace.h"
00038 #include "ompl/util/Exception.h"
00039 #include "ompl/tools/config/MagicConstants.h"
00040 #include <limits>
00041 
00042 void ompl::base::TimeStateSampler::sampleUniform(State *state)
00043 {
00044     if (space_->as<TimeStateSpace>()->isBounded())
00045         state->as<TimeStateSpace::StateType>()->position = rng_.uniformReal(space_->as<TimeStateSpace>()->getMinTimeBound(),
00046                                                                                space_->as<TimeStateSpace>()->getMaxTimeBound());
00047     else
00048         state->as<TimeStateSpace::StateType>()->position = 0.0;
00049 }
00050 
00051 void ompl::base::TimeStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
00052 {
00053     state->as<TimeStateSpace::StateType>()->position =
00054         rng_.uniformReal(near->as<TimeStateSpace::StateType>()->position - distance,
00055                          near->as<TimeStateSpace::StateType>()->position + distance);
00056     space_->enforceBounds(state);
00057 }
00058 
00059 void ompl::base::TimeStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
00060 {
00061     state->as<TimeStateSpace::StateType>()->position =
00062         rng_.gaussian(mean->as<TimeStateSpace::StateType>()->position, stdDev);
00063     space_->enforceBounds(state);
00064 }
00065 
00066 unsigned int ompl::base::TimeStateSpace::getDimension() const
00067 {
00068     return 1;
00069 }
00070 
00071 void ompl::base::TimeStateSpace::setBounds(double minTime, double maxTime)
00072 {
00073     if (minTime > maxTime)
00074         throw Exception("The maximum position in time cannot be before the minimum position in time");
00075 
00076     minTime_ = minTime;
00077     maxTime_ = maxTime;
00078     bounded_ = true;
00079 }
00080 
00081 double ompl::base::TimeStateSpace::getMaximumExtent() const
00082 {
00083     return bounded_ ? maxTime_ - minTime_ : 1.0;
00084 }
00085 
00086 double ompl::base::TimeStateSpace::getMeasure() const
00087 {
00088     return getMaximumExtent();
00089 }
00090 
00091 void ompl::base::TimeStateSpace::enforceBounds(State *state) const
00092 {
00093     if (bounded_)
00094     {
00095         if (state->as<StateType>()->position > maxTime_)
00096             state->as<StateType>()->position = maxTime_;
00097         else
00098             if (state->as<StateType>()->position < minTime_)
00099                 state->as<StateType>()->position = minTime_;
00100     }
00101 }
00102 
00103 bool ompl::base::TimeStateSpace::satisfiesBounds(const State *state) const
00104 {
00105     return !bounded_ || (state->as<StateType>()->position >= minTime_ - std::numeric_limits<double>::epsilon() &&
00106                          state->as<StateType>()->position <= maxTime_ + std::numeric_limits<double>::epsilon());
00107 }
00108 
00109 void ompl::base::TimeStateSpace::copyState(State *destination, const State *source) const
00110 {
00111     destination->as<StateType>()->position = source->as<StateType>()->position;
00112 }
00113 
00114 unsigned int ompl::base::TimeStateSpace::getSerializationLength() const
00115 {
00116     return sizeof(double);
00117 }
00118 
00119 void ompl::base::TimeStateSpace::serialize(void *serialization, const State *state) const
00120 {
00121     memcpy(serialization, &state->as<StateType>()->position, sizeof(double));
00122 }
00123 
00124 void ompl::base::TimeStateSpace::deserialize(State *state, const void *serialization) const
00125 {
00126     memcpy(&state->as<StateType>()->position, serialization, sizeof(double));
00127 }
00128 
00129 double ompl::base::TimeStateSpace::distance(const State *state1, const State *state2) const
00130 {
00131     return fabs(state1->as<StateType>()->position - state2->as<StateType>()->position);
00132 }
00133 
00134 bool ompl::base::TimeStateSpace::equalStates(const State *state1, const State *state2) const
00135 {
00136     return fabs(state1->as<StateType>()->position - state2->as<StateType>()->position) < std::numeric_limits<double>::epsilon() * 2.0;
00137 }
00138 
00139 void ompl::base::TimeStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
00140 {
00141     state->as<StateType>()->position = from->as<StateType>()->position +
00142         (to->as<StateType>()->position - from->as<StateType>()->position) * t;
00143 }
00144 
00145 ompl::base::StateSamplerPtr ompl::base::TimeStateSpace::allocDefaultStateSampler() const
00146 {
00147     return StateSamplerPtr(new TimeStateSampler(this));
00148 }
00149 
00150 ompl::base::State* ompl::base::TimeStateSpace::allocState() const
00151 {
00152     return new StateType();
00153 }
00154 
00155 void ompl::base::TimeStateSpace::freeState(State *state) const
00156 {
00157     delete static_cast<StateType*>(state);
00158 }
00159 
00160 void ompl::base::TimeStateSpace::registerProjections()
00161 {
00162     class TimeDefaultProjection : public ProjectionEvaluator
00163     {
00164     public:
00165 
00166         TimeDefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
00167         {
00168         }
00169 
00170         virtual unsigned int getDimension() const
00171         {
00172             return 1;
00173         }
00174 
00175         virtual void defaultCellSizes()
00176         {
00177             cellSizes_.resize(1);
00178             if (space_->as<TimeStateSpace>()->isBounded())
00179             {
00180                 bounds_.resize(1);
00181                 bounds_.low[0] = space_->as<TimeStateSpace>()->getMinTimeBound();
00182                 bounds_.high[0] = space_->as<TimeStateSpace>()->getMaxTimeBound();
00183                 cellSizes_[0] = bounds_.getDifference()[0] / magic::PROJECTION_DIMENSION_SPLITS;
00184             }
00185             else
00186                 cellSizes_[0] = 1.0;
00187         }
00188 
00189         virtual void project(const State *state, EuclideanProjection &projection) const
00190         {
00191             projection(0) = state->as<TimeStateSpace::StateType>()->position;
00192         }
00193     };
00194 
00195     registerDefaultProjection(ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(new TimeDefaultProjection(this))));
00196 }
00197 
00198 double* ompl::base::TimeStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
00199 {
00200     return index == 0 ? &(state->as<StateType>()->position) : NULL;
00201 }
00202 
00203 void ompl::base::TimeStateSpace::printState(const State *state, std::ostream &out) const
00204 {
00205     out << "TimeState [";
00206     if (state)
00207         out << state->as<StateType>()->position;
00208     else
00209         out << "NULL";
00210     out << ']' << std::endl;
00211 }
00212 
00213 void ompl::base::TimeStateSpace::printSettings(std::ostream &out) const
00214 {
00215     out << "Time state space '" << getName() << "'" << std::endl;
00216 }
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