ompl/base/spaces/RealVectorStateSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
00038 #define OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 #include "ompl/base/spaces/RealVectorBounds.h"
00042 #include <vector>
00043 #include <string>
00044 #include <map>
00045 
00046 namespace ompl
00047 {
00048     namespace base
00049     {
00050 
00052         class RealVectorStateSampler : public StateSampler
00053         {
00054         public:
00055 
00057             RealVectorStateSampler(const StateSpace *space) : StateSampler(space)
00058             {
00059             }
00060 
00061             virtual void sampleUniform(State *state);
00066             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00071             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00072         };
00073 
00075         class RealVectorStateSpace : public StateSpace
00076         {
00077         public:
00078 
00080             class StateType : public State
00081             {
00082             public:
00083                 StateType() : State()
00084                 {
00085                 }
00086 
00089                 double operator[](unsigned int i) const
00090                 {
00091                     return values[i];
00092                 }
00093 
00096                 double& operator[](unsigned int i)
00097                 {
00098                     return values[i];
00099                 }
00100 
00102                 double *values;
00103             };
00104 
00107             RealVectorStateSpace(unsigned int dim = 0) : StateSpace(), dimension_(dim), bounds_(dim),  stateBytes_(dim * sizeof(double))
00108             {
00109                 type_ = STATE_SPACE_REAL_VECTOR;
00110                 setName("RealVector" + getName());
00111                 dimensionNames_.resize(dim, "");
00112             }
00113 
00114             virtual ~RealVectorStateSpace()
00115             {
00116             }
00117 
00119             void addDimension(double minBound = 0.0, double maxBound = 0.0);
00120 
00122             void addDimension(const std::string &name, double minBound = 0.0, double maxBound = 0.0);
00123 
00126             void setBounds(const RealVectorBounds &bounds);
00127 
00130             void setBounds(double low, double high);
00131 
00133             const RealVectorBounds& getBounds() const
00134             {
00135                 return bounds_;
00136             }
00137 
00138             virtual unsigned int getDimension() const;
00139 
00142             const std::string& getDimensionName(unsigned int index) const;
00143 
00145             int getDimensionIndex(const std::string &name) const;
00146 
00148             void setDimensionName(unsigned int index, const std::string &name);
00149 
00150             virtual double getMaximumExtent() const;
00151 
00152             virtual double getMeasure() const;
00153 
00154             virtual void enforceBounds(State *state) const;
00155 
00156             virtual bool satisfiesBounds(const State *state) const;
00157 
00158             virtual void copyState(State *destination, const State *source) const;
00159 
00160             virtual unsigned int getSerializationLength() const;
00161 
00162             virtual void serialize(void *serialization, const State *state) const;
00163 
00164             virtual void deserialize(State *state, const void *serialization) const;
00165 
00166             virtual double distance(const State *state1, const State *state2) const;
00167 
00168             virtual bool equalStates(const State *state1, const State *state2) const;
00169 
00170             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00171 
00172             virtual StateSamplerPtr allocDefaultStateSampler() const;
00173 
00174             virtual State* allocState() const;
00175 
00176             virtual void freeState(State *state) const;
00177 
00178             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
00179 
00180             virtual void printState(const State *state, std::ostream &out) const;
00181 
00182             virtual void printSettings(std::ostream &out) const;
00183 
00184             virtual void registerProjections();
00185 
00186             virtual void setup();
00187 
00188         protected:
00189 
00191             unsigned int                        dimension_;
00192 
00194             RealVectorBounds                    bounds_;
00195 
00197             std::vector<std::string>            dimensionNames_;
00198 
00200             std::map<std::string, unsigned int> dimensionIndex_;
00201 
00202         private:
00203 
00205             std::size_t                         stateBytes_;
00206 
00207         };
00208     }
00209 }
00210 
00211 #endif
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