All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
TimeStateSpace.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_TIME_STATE_SPACE_
38 #define OMPL_BASE_SPACES_TIME_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
46 
49  {
50  public:
51 
53  TimeStateSampler(const StateSpace *space) : StateSampler(space)
54  {
55  }
56 
57  virtual void sampleUniform(State *state);
58  virtual void sampleUniformNear(State *state, const State *near, const double distance);
59  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
60  };
61 
71  class TimeStateSpace : public StateSpace
72  {
73  public:
74 
76  class StateType : public State
77  {
78  public:
79 
81  double position;
82  };
83 
84  TimeStateSpace(void) : StateSpace(), bounded_(false), minTime_(0.0), maxTime_(0.0)
85  {
86  setName("Time" + getName());
88  }
89 
90  virtual ~TimeStateSpace(void)
91  {
92  }
93 
94  virtual unsigned int getDimension(void) const;
95 
96  virtual double getMaximumExtent(void) const;
97 
104  void setBounds(double minTime, double maxTime);
105 
107  double getMinTimeBound(void) const
108  {
109  return minTime_;
110  }
111 
113  double getMaxTimeBound(void) const
114  {
115  return maxTime_;
116  }
117 
119  bool isBounded(void) const
120  {
121  return bounded_;
122  }
123 
124  virtual void enforceBounds(State *state) const;
125 
126  virtual bool satisfiesBounds(const State *state) const;
127 
128  virtual void copyState(State *destination, const State *source) const;
129 
130  virtual unsigned int getSerializationLength(void) const;
131 
132  virtual void serialize(void *serialization, const State *state) const;
133 
134  virtual void deserialize(State *state, const void *serialization) const;
135 
136  virtual double distance(const State *state1, const State *state2) const;
137 
138  virtual bool equalStates(const State *state1, const State *state2) const;
139 
140  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
141 
142  virtual StateSamplerPtr allocDefaultStateSampler(void) const;
143 
144  virtual State* allocState(void) const;
145 
146  virtual void freeState(State *state) const;
147 
148  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
149 
150  virtual void printState(const State *state, std::ostream &out) const;
151 
152  virtual void printSettings(std::ostream &out) const;
153 
154  virtual void registerProjections(void);
155 
156  protected:
157 
159  bool bounded_;
160 
162  double minTime_;
163 
165  double maxTime_;
166 
167  };
168  }
169 }
170 
171 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:192
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
int type_
A type assigned for this state space.
Definition: StateSpace.h:497
virtual void freeState(State *state) const
Free the memory of the allocated state.
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void enforceBounds(State *state) const
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
double maxTime_
The maximum point in time considered by the state space (if bounds are used)
bool isBounded(void) const
Check if the time is bounded or not.
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
double minTime_
The minimum point in time considered by the state space (if bounds are used)
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
The definition of a time state.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
double getMinTimeBound(void) const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
const std::string & getName(void) const
Get the name of the state space.
Definition: StateSpace.cpp:187
State space sampler for time.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual double * getValueAddressAtIndex(State *state, const unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition of an abstract state.
Definition: State.h:50
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
double getMaxTimeBound(void) const
Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded...
Abstract definition of a state space sampler.
Definition: StateSampler.h:66
TimeStateSampler(const StateSpace *space)
Constructor.
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
virtual void sampleUniform(State *state)
Sample a state.
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
ompl::base::TimeStateSpace
double position
The position in time.
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
bool bounded_
Flag indicating whether the state space is considering bounds or not.
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.