ompl/base/spaces/RealVectorStateSpace.h
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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: 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