RealVectorStateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
38 #define OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorBounds.h"
42 #include <vector>
43 #include <string>
44 #include <map>
45 
46 namespace ompl
47 {
48  namespace base
49  {
50 
53  {
54  public:
55 
58  {
59  }
60 
61  virtual void sampleUniform(State *state);
66  virtual void sampleUniformNear(State *state, const State *near, const double distance);
71  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
72  };
73 
76  {
77  public:
78 
80  class StateType : public State
81  {
82  public:
83  StateType() : State()
84  {
85  }
86 
89  double operator[](unsigned int i) const
90  {
91  return values[i];
92  }
93 
96  double& operator[](unsigned int i)
97  {
98  return values[i];
99  }
100 
102  double *values;
103  };
104 
107  RealVectorStateSpace(unsigned int dim = 0) : StateSpace(), dimension_(dim), bounds_(dim), stateBytes_(dim * sizeof(double))
108  {
109  type_ = STATE_SPACE_REAL_VECTOR;
110  setName("RealVector" + getName());
111  dimensionNames_.resize(dim, "");
112  }
113 
114  virtual ~RealVectorStateSpace()
115  {
116  }
117 
119  void addDimension(double minBound = 0.0, double maxBound = 0.0);
120 
122  void addDimension(const std::string &name, double minBound = 0.0, double maxBound = 0.0);
123 
126  void setBounds(const RealVectorBounds &bounds);
127 
130  void setBounds(double low, double high);
131 
134  {
135  return bounds_;
136  }
137 
138  virtual unsigned int getDimension() const;
139 
142  const std::string& getDimensionName(unsigned int index) const;
143 
145  int getDimensionIndex(const std::string &name) const;
146 
148  void setDimensionName(unsigned int index, const std::string &name);
149 
150  virtual double getMaximumExtent() const;
151 
152  virtual double getMeasure() const;
153 
154  virtual void enforceBounds(State *state) const;
155 
156  virtual bool satisfiesBounds(const State *state) const;
157 
158  virtual void copyState(State *destination, const State *source) const;
159 
160  virtual unsigned int getSerializationLength() const;
161 
162  virtual void serialize(void *serialization, const State *state) const;
163 
164  virtual void deserialize(State *state, const void *serialization) const;
165 
166  virtual double distance(const State *state1, const State *state2) const;
167 
168  virtual bool equalStates(const State *state1, const State *state2) const;
169 
170  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
171 
172  virtual StateSamplerPtr allocDefaultStateSampler() const;
173 
174  virtual State* allocState() const;
175 
176  virtual void freeState(State *state) const;
177 
178  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
179 
180  virtual void printState(const State *state, std::ostream &out) const;
181 
182  virtual void printSettings(std::ostream &out) const;
183 
184  virtual void registerProjections();
185 
186  virtual void setup();
187 
188  protected:
189 
191  unsigned int dimension_;
192 
195 
197  std::vector<std::string> dimensionNames_;
198 
200  std::map<std::string, unsigned int> dimensionIndex_;
201 
202  private:
203 
205  std::size_t stateBytes_;
206 
207  };
208  }
209 }
210 
211 #endif
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
State sampler for the Rn state space.
std::vector< std::string > dimensionNames_
Optional names for individual dimensions.
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance, near[i]+distance]. If this interval exceeds the state space bounds, the interval is truncated.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
unsigned int dimension_
The dimension of the space.
double & operator[](unsigned int i)
Access element i of values. This does not check whether the index is within bounds.
RealVectorStateSampler(const StateSpace *space)
Constructor.
std::map< std::string, unsigned int > dimensionIndex_
Map from names to index values for dimensions.
RealVectorBounds bounds_
The bounds of the space (used for sampling)
A state space representing Rn. The distance function is the L2 norm.
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
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and st...
double operator[](unsigned int i) const
Access element i of values. This does not check whether the index is within bounds.
The lower and upper bounds for an Rn space.
ompl::base::RealVectorStateSpace
double * values
The value of the actual vector in Rn
RealVectorStateSpace(unsigned int dim=0)
Constructor. The dimension of of the space needs to be specified. A space representing Rdim will be i...
Abstract definition of a state space sampler.
Definition: StateSampler.h:66
virtual void sampleUniform(State *state)
Sample a state.