MorseProjection.cpp
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34 
35 /* Author: Caleb Voss */
36 
37 #include "ompl/extensions/morse/MorseProjection.h"
38 #include "ompl/base/spaces/RealVectorStateSpace.h"
39 #include "ompl/util/Exception.h"
40 
42  : ProjectionEvaluator(space), space_(dynamic_cast<MorseStateSpace *>(space.get()))
43 {
44  if (!space_)
45  throw Exception("MORSE State Space needed for Morse Projection");
46 }
47 
49 {
51 }
52 
54 {
55  // default projection uses 2 coordinates for each rigid body
56  return 2 * space_->getEnvironment()->rigidBodies_;
57 }
58 
60 {
61  cellSizes_.resize(getDimension());
62  for (unsigned int i = 0; i < getDimension(); i++)
63  {
64  cellSizes_[i] = 1.0;
65  }
66 }
67 
68 void ompl::base::MorseProjection::project(const State *state, EuclideanProjection &projection) const
69 {
70  // this projection uses the x and y coordinates of every rigid body
72  projection.resize(getDimension());
73  for (unsigned int i = 0; i < space_->getEnvironment()->rigidBodies_; i++)
74  {
75  // for each rigid body, grab the x and y coords
76  const double *values = mstate->as<RealVectorStateSpace::StateType>(4 * i)->values;
77  projection[2 * i] = values[0];
78  projection[2 * i + 1] = values[1];
79  }
80 }
MORSE State. This is a compound state that allows accessing the properties of the bodies the state sp...
MorseProjection(const StateSpacePtr &space)
Construct a projection evaluator for a specific state space.
State space representing MORSE states.
A shared pointer wrapper for ompl::base::StateSpace.
void setup() override
Perform configuration steps, if needed.
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function sets...
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
MorseStateSpace * space_
The state space this projection operates on.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition of an abstract state.
Definition: State.h:49
The exception type for ompl.
Definition: Exception.h:46
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:95
virtual void setup()
Perform configuration steps, if needed.
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...