ompl/extensions/morse/MorseStateSpace.h
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00034 
00035 /* Authors: Caleb Voss */
00036 
00037 #ifndef OMPL_EXTENSION_MORSE_STATE_SPACE_
00038 #define OMPL_EXTENSION_MORSE_STATE_SPACE_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 #include "ompl/extensions/morse/MorseEnvironment.h"
00042 
00043 namespace ompl
00044 {
00045     namespace base
00046     {
00047         
00049         class MorseStateSpace : public CompoundStateSpace
00050         {
00051         public:
00052 
00054             class StateType : public CompoundStateSpace::StateType
00055             {
00056             public:
00057                 StateType() : CompoundStateSpace::StateType()
00058                 {
00059                 }
00060             };
00061 
00077             MorseStateSpace(const MorseEnvironmentPtr &env,
00078                              double positionWeight = 1.0, double linVelWeight = 0.5,
00079                              double angVelWeight = 0.5, double orientationWeight = 1.0);
00080 
00081             virtual ~MorseStateSpace()
00082             {
00083             }
00084 
00086             const MorseEnvironmentPtr& getEnvironment() const
00087             {
00088                 return env_;
00089             }
00090 
00092             unsigned int getNrBodies() const
00093             {
00094                 return env_->rigidBodies_;
00095             }
00096 
00098             void setBounds();
00099 
00101             void setPositionBounds(const RealVectorBounds &bounds);
00102 
00104             void setLinearVelocityBounds(const RealVectorBounds &bounds);
00105 
00107             void setAngularVelocityBounds(const RealVectorBounds &bounds);
00108 
00111             void readState(State *state) const;
00112 
00115             void writeState(const State *state) const;
00116 
00118             bool satisfiesBounds(const State *state) const;
00119 
00120             State* allocState() const;
00121             void freeState(State *state) const;
00122             void copyState(State *destination, const State *source) const;
00123             void interpolate(const State *from, const State *to, const double t, State *state) const;
00124 
00125             StateSamplerPtr allocDefaultStateSampler() const;
00126             StateSamplerPtr allocStateSampler() const;
00127 
00128         protected:
00129 
00131             MorseEnvironmentPtr env_;
00132         };
00133     }
00134 }
00135 
00136 
00137 #endif
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