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_SE2_STATE_SPACE_ 00038 #define OMPL_BASE_SPACES_SE2_STATE_SPACE_ 00039 00040 #include "ompl/base/StateSpace.h" 00041 #include "ompl/base/spaces/RealVectorStateSpace.h" 00042 #include "ompl/base/spaces/SO2StateSpace.h" 00043 00044 namespace ompl 00045 { 00046 namespace base 00047 { 00048 00050 class SE2StateSpace : public CompoundStateSpace 00051 { 00052 public: 00053 00055 class StateType : public CompoundStateSpace::StateType 00056 { 00057 public: 00058 StateType(void) : CompoundStateSpace::StateType() 00059 { 00060 } 00061 00063 double getX(void) const 00064 { 00065 return as<RealVectorStateSpace::StateType>(0)->values[0]; 00066 } 00067 00069 double getY(void) const 00070 { 00071 return as<RealVectorStateSpace::StateType>(0)->values[1]; 00072 } 00073 00077 double getYaw(void) const 00078 { 00079 return as<SO2StateSpace::StateType>(1)->value; 00080 } 00081 00083 void setX(double x) 00084 { 00085 as<RealVectorStateSpace::StateType>(0)->values[0] = x; 00086 } 00087 00089 void setY(double y) 00090 { 00091 as<RealVectorStateSpace::StateType>(0)->values[1] = y; 00092 } 00093 00095 void setXY(double x, double y) 00096 { 00097 setX(x); 00098 setY(y); 00099 } 00100 00104 void setYaw(double yaw) 00105 { 00106 as<SO2StateSpace::StateType>(1)->value = yaw; 00107 } 00108 00109 }; 00110 00111 00112 SE2StateSpace(void) : CompoundStateSpace() 00113 { 00114 setName("SE2" + getName()); 00115 type_ = STATE_SPACE_SE2; 00116 addSubSpace(StateSpacePtr(new RealVectorStateSpace(2)), 1.0); 00117 addSubSpace(StateSpacePtr(new SO2StateSpace()), 0.5); 00118 lock(); 00119 } 00120 00121 virtual ~SE2StateSpace(void) 00122 { 00123 } 00124 00126 void setBounds(const RealVectorBounds &bounds) 00127 { 00128 as<RealVectorStateSpace>(0)->setBounds(bounds); 00129 } 00130 00132 const RealVectorBounds& getBounds(void) const 00133 { 00134 return as<RealVectorStateSpace>(0)->getBounds(); 00135 } 00136 00137 virtual State* allocState(void) const; 00138 virtual void freeState(State *state) const; 00139 00140 virtual void registerProjections(void); 00141 00142 }; 00143 } 00144 } 00145 00146 #endif