ompl/extensions/morse/src/MorseStatePropagator.cpp
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, 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: Caleb Voss */
00036 
00037 #include "ompl/extensions/morse/MorseStatePropagator.h"
00038 #include "ompl/control/spaces/RealVectorControlSpace.h"
00039 #include "ompl/extensions/morse/MorseStateSpace.h"
00040 #include "ompl/util/Exception.h"
00041 
00042 ompl::control::MorseStatePropagator::MorseStatePropagator(const SpaceInformationPtr &si) : StatePropagator(si)
00043 {
00044     if (base::MorseStateSpace *mss = dynamic_cast<base::MorseStateSpace*>(si->getStateSpace().get()))
00045         env_ = mss->getEnvironment();
00046     else
00047         throw Exception("MORSE State Space needed for MorseStatePropagator");
00048 }
00049 
00050 void ompl::control::MorseStatePropagator::propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
00051 {
00052     boost::mutex::scoped_lock lock(env_->mutex_);
00053 
00054     // place the MORSE world at the start state
00055     si_->getStateSpace()->as<base::MorseStateSpace>()->writeState(state);
00056 
00057     // convert control into vector of doubles
00058     std::vector<double> controlVec;
00059     const double *conVals = control->as<RealVectorControlSpace::ControlType>()->values;
00060     for (unsigned int i = 0; i < env_->controlDim_; i++)
00061         controlVec.push_back(conVals[i]);
00062 
00063     // apply the controls
00064     env_->applyControl(controlVec);
00065 
00066     // propagate one step forward
00067     env_->worldStep(duration);
00068 
00069     // read the final state from the MORSE world
00070     si_->getStateSpace()->as<base::MorseStateSpace>()->readState(result);
00071 }
00072 
00073 bool ompl::control::MorseStatePropagator::canPropagateBackward() const
00074 {
00075     return false;
00076 }
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines