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TimeStateSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SPACES_TIME_STATE_SPACE_
00038 #define OMPL_BASE_SPACES_TIME_STATE_SPACE_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 
00042 namespace ompl
00043 {
00044     namespace base
00045     {
00046 
00048         class TimeStateSampler : public StateSampler
00049         {
00050         public:
00051 
00053             TimeStateSampler(const StateSpace *space) : StateSampler(space)
00054             {
00055             }
00056 
00057             virtual void sampleUniform(State *state);
00058             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00059             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00060         };
00061 
00071         class TimeStateSpace : public StateSpace
00072         {
00073         public:
00074 
00076             class StateType : public State
00077             {
00078             public:
00079 
00081                 double position;
00082             };
00083 
00084             TimeStateSpace(void) : StateSpace(), bounded_(false), minTime_(0.0), maxTime_(0.0)
00085             {
00086                 setName("Time" + getName());
00087                 type_ = STATE_SPACE_TIME;
00088             }
00089 
00090             virtual ~TimeStateSpace(void)
00091             {
00092             }
00093 
00094             virtual unsigned int getDimension(void) const;
00095 
00096             virtual double getMaximumExtent(void) const;
00097 
00104             void setBounds(double minTime, double maxTime);
00105 
00107             double getMinTimeBound(void) const
00108             {
00109                 return minTime_;
00110             }
00111 
00113             double getMaxTimeBound(void) const
00114             {
00115                 return maxTime_;
00116             }
00117 
00119             bool isBounded(void) const
00120             {
00121                 return bounded_;
00122             }
00123 
00124             virtual void enforceBounds(State *state) const;
00125 
00126             virtual bool satisfiesBounds(const State *state) const;
00127 
00128             virtual void copyState(State *destination, const State *source) const;
00129 
00130             virtual double distance(const State *state1, const State *state2) const;
00131 
00132             virtual bool equalStates(const State *state1, const State *state2) const;
00133 
00134             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00135 
00136             virtual StateSamplerPtr allocStateSampler(void) const;
00137 
00138             virtual State* allocState(void) const;
00139 
00140             virtual void freeState(State *state) const;
00141 
00142             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
00143 
00144             virtual void printState(const State *state, std::ostream &out) const;
00145 
00146             virtual void printSettings(std::ostream &out) const;
00147 
00148             virtual void registerProjections(void);
00149 
00150         protected:
00151 
00153             bool   bounded_;
00154 
00156             double minTime_;
00157 
00159             double maxTime_;
00160 
00161         };
00162     }
00163 }
00164 
00165 #endif