demos/Koules/KoulesGoal.cpp
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00034 
00035 #include "KoulesConfig.h"
00036 #include "KoulesStateSpace.h"
00037 #include "KoulesGoal.h"
00038 
00039 double KoulesGoal::distanceGoal(const ompl::base::State *st) const
00040 {
00041     double minX, minY;
00042     const double* v = st->as<KoulesStateSpace::StateType>()->values;
00043     const KoulesStateSpace* space = si_->getStateSpace().get()->as<KoulesStateSpace>();
00044     std::size_t numKoules = (space->getDimension() - 5) / 4, liveKoules = numKoules;
00045     double minDist = sideLength;
00046 
00047     for (std::size_t i = 1, j = 5; i <= numKoules; ++i, j += 4)
00048     {
00049         if (space->isDead(st, i))
00050             liveKoules--;
00051         else
00052         {
00053             minX = std::min(v[j    ], sideLength - v[j    ]);
00054             minY = std::min(v[j + 1], sideLength - v[j + 1]);
00055             minDist = std::min(minDist, std::min(minX, minY) - kouleRadius + threshold_);
00056         }
00057     }
00058     if (minDist < 0 || liveKoules == 0)
00059         minDist = 0;
00060    return .5 * sideLength * (double) liveKoules + minDist;
00061 }
00062 
00063 void KoulesGoal::sampleGoal(ompl::base::State *st) const
00064 {
00065     double* v = st->as<KoulesStateSpace::StateType>()->values;
00066     std::size_t dim = si_->getStateDimension();
00067     stateSampler_->sampleUniform(st);
00068     for (std::size_t i = 5; i < dim; i += 4)
00069     {
00070         // randomly pick an edge for each koule to collide
00071         if (rng_.uniformBool())
00072         {
00073             v[i    ] = rng_.uniformBool() ? 0. : sideLength;
00074             v[i + 1] = rng_.uniformReal(0., sideLength);
00075         }
00076         else
00077         {
00078             v[i    ] = rng_.uniformReal(0., sideLength);
00079             v[i + 1] = rng_.uniformBool() ? 0. : sideLength;
00080         }
00081     }
00082 }
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