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RealVectorBounds.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/spaces/RealVectorBounds.h"
00038 #include "ompl/util/Exception.h"
00039 #include <algorithm>
00040 #include <limits>
00041 
00042 void ompl::base::RealVectorBounds::setLow(double value)
00043 {
00044     std::fill(low.begin(), low.end(), value);
00045 }
00046 
00047 void ompl::base::RealVectorBounds::setHigh(double value)
00048 {
00049     std::fill(high.begin(), high.end(), value);
00050 }
00051 
00052 void ompl::base::RealVectorBounds::setLow(unsigned int index, double value)
00053 {
00054     low[index] = value;
00055 }
00056 
00057 void ompl::base::RealVectorBounds::setHigh(unsigned int index, double value)
00058 {
00059     high[index] = value;
00060 }
00061 
00062 std::vector<double> ompl::base::RealVectorBounds::getDifference(void) const
00063 {
00064     unsigned int n = std::min(low.size(), high.size());
00065     std::vector<double> result(n);
00066     for (unsigned int i = 0 ; i < n ; ++i)
00067         result[i] = high[i] - low[i];
00068     return result;
00069 }
00070 
00071 double ompl::base::RealVectorBounds::getVolume(void) const
00072 {
00073     double v = 1.0;
00074     unsigned int n = std::min(low.size(), high.size());
00075     for (unsigned int i = 0 ; i < n ; ++i)
00076     {
00077         double d = high[i] - low[i];
00078         v *= d;
00079     }
00080     return v;
00081 }
00082 
00083 void ompl::base::RealVectorBounds::check(void) const
00084 {
00085     if (low.size() != high.size())
00086         throw Exception("Lower and upper bounds are not of same dimension");
00087     for (unsigned int i = 0 ; i < low.size() ; ++i)
00088         if (low[i] > high[i])
00089             throw Exception("Bounds for real vector space seem to be incorrect (lower bound must be stricly less than upper bound). Sampling will not be possible");
00090 }