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());
87  type_ = STATE_SPACE_TIME;
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 
144  virtual StateSamplerPtr allocDefaultStateSampler() const;
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
A boost shared pointer wrapper for ompl::base::StateSampler.
double maxTime_
The maximum point in time considered by the state space (if bounds are used)
double minTime_
The minimum point in time considered by the state space (if bounds are used)
The definition of a time state.
double getMaxTimeBound() const
Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded...
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
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.
Abstract definition of a state space sampler.
Definition: StateSampler.h:66
TimeStateSampler(const StateSpace *space)
Constructor.
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.
bool bounded_
Flag indicating whether the state space is considering bounds or not.