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ODEStateSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_EXTENSION_ODE_STATE_SPACE_
00038 #define OMPL_EXTENSION_ODE_STATE_SPACE_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 #include "ompl/base/spaces/RealVectorStateSpace.h"
00042 #include "ompl/base/spaces/SO3StateSpace.h"
00043 #include "ompl/extensions/ode/ODEEnvironment.h"
00044 
00045 namespace ompl
00046 {
00047     namespace control
00048     {
00049 
00051         class ODEStateSpace : public base::CompoundStateSpace
00052         {
00053         public:
00054 
00055             enum
00056                 {
00058                     STATE_COLLISION_KNOWN_BIT = 0,
00060                     STATE_COLLISION_VALUE_BIT = 1,
00062                     STATE_VALIDITY_KNOWN_BIT = 2,
00064                     STATE_VALIDITY_VALUE_BIT = 3,
00065                 };
00066 
00068             class StateType : public base::CompoundStateSpace::StateType
00069             {
00070             public:
00071                 StateType(void) : base::CompoundStateSpace::StateType(), collision(0)
00072                 {
00073                 }
00074 
00076                 const double* getBodyPosition(unsigned int body) const
00077                 {
00078                     return as<base::RealVectorStateSpace::StateType>(body * 4)->values;
00079                 }
00080 
00082                 double* getBodyPosition(unsigned int body)
00083                 {
00084                     return as<base::RealVectorStateSpace::StateType>(body * 4)->values;
00085                 }
00086 
00088                 const base::SO3StateSpace::StateType& getBodyRotation(unsigned int body) const
00089                 {
00090                     return *as<base::SO3StateSpace::StateType>(body * 4 + 3);
00091                 }
00092 
00094                 base::SO3StateSpace::StateType& getBodyRotation(unsigned int body)
00095                 {
00096                     return *as<base::SO3StateSpace::StateType>(body * 4 + 3);
00097                 }
00098 
00100                 const double* getBodyLinearVelocity(unsigned int body) const
00101                 {
00102                     return as<base::RealVectorStateSpace::StateType>(body * 4 + 1)->values;
00103                 }
00104 
00106                 double* getBodyLinearVelocity(unsigned int body)
00107                 {
00108                     return as<base::RealVectorStateSpace::StateType>(body * 4 + 1)->values;
00109                 }
00110 
00112                 const double* getBodyAngularVelocity(unsigned int body) const
00113                 {
00114                     return as<base::RealVectorStateSpace::StateType>(body * 4 + 2)->values;
00115                 }
00116 
00118                 double* getBodyAngularVelocity(unsigned int body)
00119                 {
00120                     return as<base::RealVectorStateSpace::StateType>(body * 4 + 2)->values;
00121                 }
00122 
00129                 mutable int collision;
00130 
00131             };
00132 
00148             ODEStateSpace(const ODEEnvironmentPtr &env,
00149                           double positionWeight = 1.0, double linVelWeight = 0.5,
00150                           double angVelWeight = 0.5, double orientationWeight = 1.0);
00151 
00152             virtual ~ODEStateSpace(void)
00153             {
00154             }
00155 
00157             const ODEEnvironmentPtr& getEnvironment(void) const
00158             {
00159                 return env_;
00160             }
00161 
00163             unsigned int getNrBodies(void) const
00164             {
00165                 return env_->stateBodies_.size();
00166             }
00167 
00173             void setDefaultBounds(void);
00174 
00176             void setVolumeBounds(const base::RealVectorBounds &bounds);
00177 
00179             void setLinearVelocityBounds(const base::RealVectorBounds &bounds);
00180 
00182             void setAngularVelocityBounds(const base::RealVectorBounds &bounds);
00183 
00186             virtual void readState(base::State *state) const;
00187 
00192             virtual void writeState(const base::State *state) const;
00193 
00201             bool satisfiesBoundsExceptRotation(const StateType *state) const;
00202 
00203             virtual base::State* allocState(void) const;
00204             virtual void freeState(base::State *state) const;
00205             virtual void copyState(base::State *destination, const base::State *source) const;
00206 
00209             virtual bool evaluateCollision(const base::State *source) const;
00210 
00211         protected:
00212 
00214             ODEEnvironmentPtr env_;
00215         };
00216     }
00217 }
00218 
00219 
00220 #endif