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 #include "ompl/control/spaces/RealVectorControlSpace.h" 00038 #include "ompl/util/Exception.h" 00039 #include <boost/lexical_cast.hpp> 00040 #include <cstring> 00041 #include <limits> 00042 00043 void ompl::control::RealVectorControlUniformSampler::sample(Control *control) 00044 { 00045 const unsigned int dim = space_->getDimension(); 00046 const base::RealVectorBounds &bounds = static_cast<const RealVectorControlSpace*>(space_)->getBounds(); 00047 00048 RealVectorControlSpace::ControlType *rcontrol = static_cast<RealVectorControlSpace::ControlType*>(control); 00049 for (unsigned int i = 0 ; i < dim ; ++i) 00050 rcontrol->values[i] = rng_.uniformReal(bounds.low[i], bounds.high[i]); 00051 } 00052 00053 void ompl::control::RealVectorControlSpace::setup(void) 00054 { 00055 ControlSpace::setup(); 00056 bounds_.check(); 00057 } 00058 00059 void ompl::control::RealVectorControlSpace::setBounds(const base::RealVectorBounds &bounds) 00060 { 00061 bounds.check(); 00062 if (bounds.low.size() != dimension_) 00063 throw Exception("Bounds do not match dimension of control space: expected dimension " + 00064 boost::lexical_cast<std::string>(dimension_) + " but got dimension " + 00065 boost::lexical_cast<std::string>(bounds.low.size())); 00066 bounds_ = bounds; 00067 } 00068 00069 unsigned int ompl::control::RealVectorControlSpace::getDimension(void) const 00070 { 00071 return dimension_; 00072 } 00073 00074 void ompl::control::RealVectorControlSpace::copyControl(Control *destination, const Control *source) const 00075 { 00076 memcpy(static_cast<ControlType*>(destination)->values, 00077 static_cast<const ControlType*>(source)->values, controlBytes_); 00078 } 00079 00080 bool ompl::control::RealVectorControlSpace::equalControls(const Control *control1, const Control *control2) const 00081 { 00082 const double *s1 = static_cast<const ControlType*>(control1)->values; 00083 const double *s2 = static_cast<const ControlType*>(control2)->values; 00084 for (unsigned int i = 0 ; i < dimension_ ; ++i) 00085 { 00086 double diff = (*s1++) - (*s2++); 00087 if (fabs(diff) > std::numeric_limits<double>::epsilon() * 2.0) 00088 return false; 00089 } 00090 return true; 00091 } 00092 00093 ompl::control::ControlSamplerPtr ompl::control::RealVectorControlSpace::allocControlSampler(void) const 00094 { 00095 return ControlSamplerPtr(new RealVectorControlUniformSampler(this)); 00096 } 00097 00098 ompl::control::Control* ompl::control::RealVectorControlSpace::allocControl(void) const 00099 { 00100 ControlType *rcontrol = new ControlType(); 00101 rcontrol->values = new double[dimension_]; 00102 return rcontrol; 00103 } 00104 00105 void ompl::control::RealVectorControlSpace::freeControl(Control *control) const 00106 { 00107 ControlType *rcontrol = static_cast<ControlType*>(control); 00108 delete[] rcontrol->values; 00109 delete rcontrol; 00110 } 00111 00112 void ompl::control::RealVectorControlSpace::nullControl(Control *control) const 00113 { 00114 ControlType *rcontrol = static_cast<ControlType*>(control); 00115 for (unsigned int i = 0 ; i < dimension_ ; ++i) 00116 { 00117 if (bounds_.low[i] <= 0.0 && bounds_.high[i] >= 0.0) 00118 rcontrol->values[i] = 0.0; 00119 else 00120 rcontrol->values[i] = bounds_.low[i]; 00121 } 00122 } 00123 00124 double* ompl::control::RealVectorControlSpace::getValueAddressAtIndex(Control *control, const unsigned int index) const 00125 { 00126 return index < dimension_ ? static_cast<ControlType*>(control)->values + index : NULL; 00127 } 00128 00129 void ompl::control::RealVectorControlSpace::printControl(const Control *control, std::ostream &out) const 00130 { 00131 out << "RealVectorControl ["; 00132 if (control) 00133 { 00134 const ControlType *rcontrol = static_cast<const ControlType*>(control); 00135 for (unsigned int i = 0 ; i < dimension_ ; ++i) 00136 { 00137 out << rcontrol->values[i]; 00138 if (i + 1 < dimension_) 00139 out << ' '; 00140 } 00141 } 00142 else 00143 out << "NULL"; 00144 out << ']' << std::endl; 00145 } 00146 00147 void ompl::control::RealVectorControlSpace::printSettings(std::ostream &out) const 00148 { 00149 out << "Real vector control space '" << getName() << "' with bounds: " << std::endl; 00150 out << " - min: "; 00151 for (unsigned int i = 0 ; i < dimension_ ; ++i) 00152 out << bounds_.low[i] << " "; 00153 out << std::endl; 00154 out << " - max: "; 00155 for (unsigned int i = 0 ; i < dimension_ ; ++i) 00156 out << bounds_.high[i] << " "; 00157 out << std::endl; 00158 }