ompl/base/spaces/ReedsSheppStateSpace.h
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00034 
00035 /* Author: Mark Moll */
00036 
00037 #ifndef OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_
00038 #define OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_
00039 
00040 #include "ompl/base/spaces/SE2StateSpace.h"
00041 #include "ompl/base/MotionValidator.h"
00042 #include <boost/math/constants/constants.hpp>
00043 
00044 namespace ompl
00045 {
00046     namespace base
00047     {
00048 
00064         class ReedsSheppStateSpace : public SE2StateSpace
00065         {
00066         public:
00067 
00069             enum ReedsSheppPathSegmentType { RS_NOP=0, RS_LEFT=1, RS_STRAIGHT=2, RS_RIGHT=3 };
00071             static const ReedsSheppPathSegmentType reedsSheppPathType[18][5];
00073             class ReedsSheppPath
00074             {
00075             public:
00076                 ReedsSheppPath(const ReedsSheppPathSegmentType* type=reedsSheppPathType[0],
00077                     double t=std::numeric_limits<double>::max(), double u=0., double v=0.,
00078                     double w=0., double x=0.);
00079                 double length() const { return totalLength_; }
00080 
00082                 const ReedsSheppPathSegmentType* type_;
00084                 double length_[5];
00086                 double totalLength_;
00087             };
00088 
00089             ReedsSheppStateSpace(double turningRadius = 1.0)
00090                 : SE2StateSpace(), rho_(turningRadius)
00091             {
00092             }
00093 
00094             virtual double distance(const State *state1, const State *state2) const;
00095 
00096             virtual void interpolate(const State *from, const State *to, const double t,
00097                 State *state) const;
00098             virtual void interpolate(const State *from, const State *to, const double t,
00099                 bool &firstTime, ReedsSheppPath &path, State *state) const;
00100 
00101             virtual void sanityChecks() const
00102             {
00103                 double zero = std::numeric_limits<double>::epsilon();
00104                 double eps = .1; // rarely such a large error will occur
00105                 StateSpace::sanityChecks(zero, eps, ~STATESPACE_INTERPOLATION);
00106             }
00107 
00109             ReedsSheppPath reedsShepp(const State *state1, const State *state2) const;
00110 
00111         protected:
00112             virtual void interpolate(const State *from, const ReedsSheppPath &path, const double t,
00113                 State *state) const;
00114 
00116             double rho_;
00117         };
00118 
00125         class ReedsSheppMotionValidator : public MotionValidator
00126         {
00127         public:
00128             ReedsSheppMotionValidator(SpaceInformation *si) : MotionValidator(si)
00129             {
00130                 defaultSettings();
00131             }
00132             ReedsSheppMotionValidator(const SpaceInformationPtr &si) : MotionValidator(si)
00133             {
00134                 defaultSettings();
00135             }
00136             virtual ~ReedsSheppMotionValidator()
00137             {
00138             }
00139             virtual bool checkMotion(const State *s1, const State *s2) const;
00140             virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const;
00141         private:
00142             ReedsSheppStateSpace *stateSpace_;
00143             void defaultSettings();
00144         };
00145 
00146     }
00147 }
00148 
00149 #endif
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