KoulesControlSpace.cpp
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #include "KoulesConfig.h"
38 #include "KoulesStateSpace.h"
39 #include "KoulesControlSpace.h"
40 #include <ompl/base/spaces/RealVectorStateSpace.h>
41 
42 namespace ob = ompl::base;
43 namespace oc = ompl::control;
44 
46 {
47  const ob::RealVectorBounds &bounds = space_->as<oc::RealVectorControlSpace>()->getBounds();
48  auto *rcontrol =
49  control->as<oc::RealVectorControlSpace::ControlType>();
50  double r = rng_.uniformReal(bounds.low[0], bounds.high[0]);
51  double theta = rng_.uniformReal(0., 2. * boost::math::constants::pi<double>());
52  rcontrol->values[0] = r * cos(theta);
53  rcontrol->values[1] = r * sin(theta);
54 }
55 
57 {
58  steer(control, state, rng_.uniformReal(0., sideLength), rng_.uniformReal(0., sideLength));
59 }
60 
61 void KoulesControlSampler::steer(oc::Control *control, const ob::State *state, double x, double y)
62 {
63  const double* r = state->as<KoulesStateSpace::StateType>()->values;
64  double dx = x - r[0];
65  double dy = y - r[1];
66  double xNrm2 = dx * dx + dy * dy;
67  if (xNrm2 > std::numeric_limits<float>::epsilon())
68  {
69  const ob::RealVectorBounds &bounds = space_->as<oc::RealVectorControlSpace>()->getBounds();
70  double v = rng_.uniformReal(bounds.low[0], bounds.high[0]) / sqrt(xNrm2);
71  auto *rcontrol =
72  control->as<oc::RealVectorControlSpace::ControlType>();
73  rcontrol->values[0] = v * dx;
74  rcontrol->values[1] = v * dy;
75  }
76  else
77  sample(control);
78 }
79 
80 KoulesControlSpace::KoulesControlSpace(unsigned int numKoules)
81  : ompl::control::RealVectorControlSpace(
82  std::make_shared<KoulesStateSpace>(numKoules), 2)
83 {
84  bounds_.setLow(shipVmin);
85  bounds_.setHigh(shipVmax);
86 }
87 
virtual void sample(ompl::control::Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:73
The lower and upper bounds for an Rn space.
Definition of an abstract state.
Definition: State.h:50
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
const ControlSpace * space_
The control space this sampler operates on.
T * as()
Cast this instance to a desired type.
Definition: ControlSpace.h:77
Definition of an abstract control.
Definition: Control.h:48
const T * as() const
Cast this instance to a desired type.
Definition: Control.h:64
A control space representing Rn.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:45
Main namespace. Contains everything in this library.
Definition: AppBase.h:22