ompl/base/spaces/SO2StateSpace.h
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: Ioan Sucan */ 00036 00037 #ifndef OMPL_BASE_SPACES_SO2_STATE_SPACE_ 00038 #define OMPL_BASE_SPACES_SO2_STATE_SPACE_ 00039 00040 #include "ompl/base/StateSpace.h" 00041 00042 namespace ompl 00043 { 00044 namespace base 00045 { 00046 00048 class SO2StateSampler : public StateSampler 00049 { 00050 public: 00051 00053 SO2StateSampler(const StateSpace *space) : StateSampler(space) 00054 { 00055 } 00056 00057 virtual void sampleUniform(State *state); 00058 virtual void sampleUniformNear(State *state, const State *near, const double distance); 00059 virtual void sampleGaussian(State *state, const State *mean, const double stdDev); 00060 }; 00061 00065 class SO2StateSpace : public StateSpace 00066 { 00067 public: 00068 00070 class StateType : public State 00071 { 00072 public: 00073 00075 void setIdentity() 00076 { 00077 value = 0.0; 00078 } 00079 00081 double value; 00082 }; 00083 00084 SO2StateSpace() : StateSpace() 00085 { 00086 setName("SO2" + getName()); 00087 type_ = STATE_SPACE_SO2; 00088 } 00089 00090 virtual ~SO2StateSpace() 00091 { 00092 } 00093 00094 virtual unsigned int getDimension() const; 00095 00096 virtual double getMaximumExtent() const; 00097 00098 virtual double getMeasure() const; 00099 00101 virtual void enforceBounds(State *state) const; 00102 00104 virtual bool satisfiesBounds(const State *state) const; 00105 00106 virtual void copyState(State *destination, const State *source) const; 00107 00108 virtual unsigned int getSerializationLength() const; 00109 00110 virtual void serialize(void *serialization, const State *state) const; 00111 00112 virtual void deserialize(State *state, const void *serialization) const; 00113 00114 virtual double distance(const State *state1, const State *state2) const; 00115 00116 virtual bool equalStates(const State *state1, const State *state2) const; 00117 00118 virtual void interpolate(const State *from, const State *to, const double t, State *state) const; 00119 00120 virtual StateSamplerPtr allocDefaultStateSampler() const; 00121 00122 virtual State* allocState() const; 00123 00124 virtual void freeState(State *state) const; 00125 00126 virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const; 00127 00128 virtual void printState(const State *state, std::ostream &out) const; 00129 00130 virtual void printSettings(std::ostream &out) const; 00131 00132 virtual void registerProjections(); 00133 }; 00134 } 00135 } 00136 00137 #endif