ompl::control::OpenDEStateSpace Class Reference

State space representing OpenDE states. More...

#include <ompl/extensions/opende/OpenDEStateSpace.h>

Inheritance diagram for ompl::control::OpenDEStateSpace:

List of all members.

Classes

class  StateType
 OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...

Public Types

enum  { STATE_COLLISION_KNOWN_BIT = 0, STATE_COLLISION_VALUE_BIT = 1, STATE_VALIDITY_KNOWN_BIT = 2, STATE_VALIDITY_VALUE_BIT = 3 }

Public Member Functions

 OpenDEStateSpace (const OpenDEEnvironmentPtr &env, double positionWeight=1.0, double linVelWeight=0.5, double angVelWeight=0.5, double orientationWeight=1.0)
 Construct a state space representing OpenDE states.
const OpenDEEnvironmentPtrgetEnvironment () const
 Get the OpenDE environment this state space corresponds to.
unsigned int getNrBodies () const
 Get the number of bodies state is maintained for.
void setDefaultBounds ()
 By default, the volume bounds enclosing the geometry of the environment are computed to include all objects in the spaces collision checking is performed (env.collisionSpaces_). The linear and angular velocity bounds are set as -1 to 1 for each dimension.
void setVolumeBounds (const base::RealVectorBounds &bounds)
 Set the bounds for each of the position subspaces.
void setLinearVelocityBounds (const base::RealVectorBounds &bounds)
 Set the bounds for each of the linear velocity subspaces.
void setAngularVelocityBounds (const base::RealVectorBounds &bounds)
 Set the bounds for each of the angular velocity subspaces.
virtual void readState (base::State *state) const
 Read the parameters of the OpenDE bodies and store them in state.
virtual void writeState (const base::State *state) const
 Set the parameters of the OpenDE bodies to be the ones read from state. The code will technically work if this function is called from multiple threads simultaneously, but the results are unpredictable.
bool satisfiesBoundsExceptRotation (const StateType *state) const
 This is a convenience function provided for optimization purposes. It checks whether a state satisfies its bounds. Typically, in the process of simulation the rotations remain valid (very slightly out of bounds), so there is no point in updating or checking them. This function checks all other bounds (position, linear and agular velocities)
virtual base::StateallocState () const
 Allocate a state that can store a point in the described space.
virtual void freeState (base::State *state) const
 Free the memory of the allocated state.
virtual void copyState (base::State *destination, const base::State *source) const
 Copy a state to another. The memory of source and destination should NOT overlap.
virtual void interpolate (const base::State *from, const base::State *to, const double t, base::State *state) const
 Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.
virtual base::StateSamplerPtr allocDefaultStateSampler () const
 Allocate an instance of the default uniform state sampler for this space.
virtual base::StateSamplerPtr allocStateSampler () const
 Allocate an instance of the state sampler for this space. This sampler will be allocated with the sampler allocator that was previously specified by setStateSamplerAllocator() or, if no sampler allocator was specified, allocDefaultStateSampler() is called.
virtual bool evaluateCollision (const base::State *source) const
 Fill the OpenDEStateSpace::STATE_COLLISION_VALUE_BIT of StateType::collision member of a state, if unspecified. Return the value value of that bit.

Protected Attributes

OpenDEEnvironmentPtr env_
 Representation of the OpenDE parameters OMPL needs to plan.

Detailed Description

State space representing OpenDE states.

Definition at line 51 of file OpenDEStateSpace.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
STATE_COLLISION_KNOWN_BIT 

Index of bit in StateType::collision indicating whether it is known if a state is in collision or not. Initially this is 0. The value of this bit is updated by OpenDEStateSpace::evaluateCollision() and OpenDEControlSpace::propagate().

STATE_COLLISION_VALUE_BIT 

Index of bit in StateType::collision indicating whether a state is in collision or not. Initially the value of this field is unspecified. The value gains meaning (1 or 0) when OpenDEStateSpace::STATE_COLLISION_KNOWN_BIT becomes 1. The value of this bit is updated by OpenDEStateSpace::evaluateCollision() and OpenDEControlSpace::propagate(). A value of 1 implies that there is no collision for which OpenDEEnvironment::isValidCollision() returns false.

STATE_VALIDITY_KNOWN_BIT 

Index of bit in StateType::collision indicating whether it is known if a state is in valid or not. Initially this is 0. The value of this bit is updated by OpenDEStateValidityChecker::isValid(). This bit is only used if the OpenDEStateValidityChecker is used.

STATE_VALIDITY_VALUE_BIT 

Index of bit in StateType::collision indicating whether a state is valid or not. Initially the value of this field is unspecified. The value gains meaning (1 or 0) when OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT becomes 1. The value of this bit is updated by OpenDEEnvironment::isValid(). A value of 1 implies that a state is valid. This bit is only used if the OpenDEStateValidityChecker is used.

Definition at line 55 of file OpenDEStateSpace.h.


Constructor & Destructor Documentation

ompl::control::OpenDEStateSpace::OpenDEStateSpace ( const OpenDEEnvironmentPtr env,
double  positionWeight = 1.0,
double  linVelWeight = 0.5,
double  angVelWeight = 0.5,
double  orientationWeight = 1.0 
)

Construct a state space representing OpenDE states.

This will be a compound state space with 4 components for each body in env.stateBodies_. The 4 subspaces constructed for each body are: position (R3), linear velocity (R3), angular velocity (R3) and orientation (SO(3)). Default bounds are set by calling setDefaultBounds().

Parameters:
envthe environment to construct the state space for
positionWeightthe weight to pass to CompoundStateSpace::addSubspace() for position subspaces
linVelWeightthe weight to pass to CompoundStateSpace::addSubspace() for linear velocity subspaces
angVelWeightthe weight to pass to CompoundStateSpace::addSubspace() for angular velocity subspaces
orientationWeightthe weight to pass to CompoundStateSpace::addSubspace() for orientation subspaces

Definition at line 43 of file OpenDEStateSpace.cpp.


Member Function Documentation

void ompl::control::OpenDEStateSpace::copyState ( base::State destination,
const base::State source 
) const [virtual]

Copy a state to another. The memory of source and destination should NOT overlap.

Note:
For more advanced state copying methods (partial copy, for example), see Advanced methods for copying states.

Reimplemented from base::CompoundStateSpace.

Definition at line 150 of file OpenDEStateSpace.cpp.


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