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RealVectorStateSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
00038 #define OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 #include "ompl/base/spaces/RealVectorBounds.h"
00042 #include <vector>
00043 #include <string>
00044 #include <map>
00045 
00046 namespace ompl
00047 {
00048     namespace base
00049     {
00050 
00052         class RealVectorStateSampler : public StateSampler
00053         {
00054         public:
00055 
00057             RealVectorStateSampler(const StateSpace *space) : StateSampler(space)
00058             {
00059             }
00060 
00061             virtual void sampleUniform(State *state);
00062             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00063             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00064         };
00065 
00067         class RealVectorStateSpace : public StateSpace
00068         {
00069         public:
00070 
00072             class StateType : public State
00073             {
00074             public:
00075                 StateType(void) : State()
00076                 {
00077                 }
00078 
00081                 double operator[](unsigned int i) const
00082                 {
00083                     return values[i];
00084                 }
00085 
00088                 double& operator[](unsigned int i)
00089                 {
00090                     return values[i];
00091                 }
00092 
00094                 double *values;
00095             };
00096 
00099             RealVectorStateSpace(unsigned int dim = 0) : StateSpace(), dimension_(dim), bounds_(dim),  stateBytes_(dim * sizeof(double))
00100             {
00101                 type_ = STATE_SPACE_REAL_VECTOR;
00102                 setName("RealVector" + getName());
00103                 dimensionNames_.resize(dim, "");
00104             }
00105 
00106             virtual ~RealVectorStateSpace(void)
00107             {
00108             }
00109 
00111             void addDimension(double minBound = 0.0, double maxBound = 0.0);
00112 
00114             void addDimension(const std::string &name, double minBound = 0.0, double maxBound = 0.0);
00115 
00118             void setBounds(const RealVectorBounds &bounds);
00119 
00122             void setBounds(double low, double high);
00123 
00125             const RealVectorBounds& getBounds(void) const
00126             {
00127                 return bounds_;
00128             }
00129 
00130             virtual unsigned int getDimension(void) const;
00131 
00134             const std::string& getDimensionName(unsigned int index) const;
00135 
00137             int getDimensionIndex(const std::string &name) const;
00138 
00140             void setDimensionName(unsigned int index, const std::string &name);
00141 
00142             virtual double getMaximumExtent(void) const;
00143 
00144             virtual void enforceBounds(State *state) const;
00145 
00146             virtual bool satisfiesBounds(const State *state) const;
00147 
00148             virtual void copyState(State *destination, const State *source) const;
00149 
00150             virtual double distance(const State *state1, const State *state2) const;
00151 
00152             virtual bool equalStates(const State *state1, const State *state2) const;
00153 
00154             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00155 
00156             virtual StateSamplerPtr allocStateSampler(void) const;
00157 
00158             virtual State* allocState(void) const;
00159 
00160             virtual void freeState(State *state) const;
00161 
00162             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
00163 
00164             virtual void printState(const State *state, std::ostream &out) const;
00165 
00166             virtual void printSettings(std::ostream &out) const;
00167 
00168             virtual void registerProjections(void);
00169 
00170             virtual void setup(void);
00171 
00172         protected:
00173 
00175             unsigned int                        dimension_;
00176 
00178             RealVectorBounds                    bounds_;
00179 
00181             std::vector<std::string>            dimensionNames_;
00182 
00184             std::map<std::string, unsigned int> dimensionIndex_;
00185 
00186         private:
00187 
00189             std::size_t                         stateBytes_;
00190 
00191         };
00192     }
00193 }
00194 
00195 #endif