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 #include "ompl/base/spaces/SE2StateSpace.h" 00038 #include "ompl/tools/config/MagicConstants.h" 00039 #include <cstring> 00040 00041 ompl::base::State* ompl::base::SE2StateSpace::allocState(void) const 00042 { 00043 StateType *state = new StateType(); 00044 allocStateComponents(state); 00045 return state; 00046 } 00047 00048 void ompl::base::SE2StateSpace::freeState(State *state) const 00049 { 00050 CompoundStateSpace::freeState(state); 00051 } 00052 00053 void ompl::base::SE2StateSpace::registerProjections(void) 00054 { 00055 class SE2DefaultProjection : public ProjectionEvaluator 00056 { 00057 public: 00058 00059 SE2DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space) 00060 { 00061 } 00062 00063 virtual unsigned int getDimension(void) const 00064 { 00065 return 2; 00066 } 00067 00068 virtual void defaultCellSizes(void) 00069 { 00070 cellSizes_.resize(2); 00071 const RealVectorBounds &b = space_->as<SE2StateSpace>()->getBounds(); 00072 cellSizes_[0] = (b.high[0] - b.low[0]) / magic::PROJECTION_DIMENSION_SPLITS; 00073 cellSizes_[1] = (b.high[1] - b.low[1]) / magic::PROJECTION_DIMENSION_SPLITS; 00074 } 00075 00076 virtual void project(const State *state, EuclideanProjection &projection) const 00077 { 00078 memcpy(&projection(0), state->as<SE2StateSpace::StateType>()->as<RealVectorStateSpace::StateType>(0)->values, 2 * sizeof(double)); 00079 } 00080 }; 00081 00082 registerDefaultProjection(ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(new SE2DefaultProjection(this)))); 00083 }