TimeStateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_TIME_STATE_SPACE_
38 #define OMPL_BASE_SPACES_TIME_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
46 
49  {
50  public:
51 
53  TimeStateSampler(const StateSpace *space) : StateSampler(space)
54  {
55  }
56 
57  virtual void sampleUniform(State *state);
58  virtual void sampleUniformNear(State *state, const State *near, const double distance);
59  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
60  };
61 
71  class TimeStateSpace : public StateSpace
72  {
73  public:
74 
76  class StateType : public State
77  {
78  public:
79 
81  double position;
82  };
83 
84  TimeStateSpace() : StateSpace(), bounded_(false), minTime_(0.0), maxTime_(0.0)
85  {
86  setName("Time" + getName());
88  }
89 
90  virtual ~TimeStateSpace()
91  {
92  }
93 
94  virtual unsigned int getDimension() const;
95 
96  virtual double getMaximumExtent() const;
97 
98  virtual double getMeasure() const;
99 
106  void setBounds(double minTime, double maxTime);
107 
109  double getMinTimeBound() const
110  {
111  return minTime_;
112  }
113 
115  double getMaxTimeBound() const
116  {
117  return maxTime_;
118  }
119 
121  bool isBounded() const
122  {
123  return bounded_;
124  }
125 
126  virtual void enforceBounds(State *state) const;
127 
128  virtual bool satisfiesBounds(const State *state) const;
129 
130  virtual void copyState(State *destination, const State *source) const;
131 
132  virtual unsigned int getSerializationLength() const;
133 
134  virtual void serialize(void *serialization, const State *state) const;
135 
136  virtual void deserialize(State *state, const void *serialization) const;
137 
138  virtual double distance(const State *state1, const State *state2) const;
139 
140  virtual bool equalStates(const State *state1, const State *state2) const;
141 
142  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
143 
145 
146  virtual State* allocState() const;
147 
148  virtual void freeState(State *state) const;
149 
150  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
151 
152  virtual void printState(const State *state, std::ostream &out) const;
153 
154  virtual void printSettings(std::ostream &out) const;
155 
156  virtual void registerProjections();
157 
158  protected:
159 
161  bool bounded_;
162 
164  double minTime_;
165 
167  double maxTime_;
168 
169  };
170  }
171 }
172 
173 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:203
int type_
A type assigned for this state space.
Definition: StateSpace.h:503
virtual double getMaximumExtent() const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
virtual void freeState(State *state) const
Free the memory of the allocated state.
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual State * allocState() const
Allocate a state that can store a point in the described space.
virtual void enforceBounds(State *state) const
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
virtual StateSamplerPtr allocDefaultStateSampler() const
Allocate an instance of the default uniform state sampler for this space.
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
double maxTime_
The maximum point in time considered by the state space (if bounds are used)
virtual double getMeasure() const
Get a measure of the space (this can be thought of as a generalization of volume) ...
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
double minTime_
The minimum point in time considered by the state space (if bounds are used)
The definition of a time state.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
double getMaxTimeBound() const
Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded...
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
virtual unsigned int getDimension() const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
bool isBounded() const
Check if the time is bounded or not.
State space sampler for time.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual double * getValueAddressAtIndex(State *state, const unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition of an abstract state.
Definition: State.h:50
double getMinTimeBound() const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:198
Abstract definition of a state space sampler.
Definition: StateSampler.h:66
TimeStateSampler(const StateSpace *space)
Constructor.
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
virtual void sampleUniform(State *state)
Sample a state.
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
ompl::base::TimeStateSpace
double position
The position in time.
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
bool bounded_
Flag indicating whether the state space is considering bounds or not.
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...