MorseEnvironment.h

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/* Author: Caleb Voss */

#ifndef OMPL_EXTENSION_MORSE_ENVIRONMENT_
#define OMPL_EXTENSION_MORSE_ENVIRONMENT_

#include "ompl/config.h"
#if OMPL_EXTENSION_MORSE == 0
#error MORSE extension not built
#endif

#include "ompl/base/State.h"
#include "ompl/util/ClassForward.h"

#include <mutex>

#include <limits>
#include <vector>

namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(MorseEnvironment);

        class MorseEnvironment
        {
        public:
            const unsigned int controlDim_;

            const std::vector<double> controlBounds_;

            const unsigned int rigidBodies_;

            std::vector<double> positionBounds_;

            std::vector<double> linvelBounds_;

            std::vector<double> angvelBounds_;

            double stepSize_;

            unsigned int minControlSteps_;

            unsigned int maxControlSteps_;

            bool simRunning_;

            mutable std::mutex mutex_;

            MorseEnvironment(const unsigned int controlDim, const std::vector<double> &controlBounds,
                             const unsigned int rigidBodies, const std::vector<double> &positionBounds,
                             const std::vector<double> &linvelBounds, const std::vector<double> &angvelBounds,
                             const double stepSize, const unsigned int minControlSteps,
                             const unsigned int maxControlSteps)
              : controlDim_(controlDim)
              , controlBounds_(controlBounds)
              , rigidBodies_(rigidBodies)
              , positionBounds_(positionBounds)
              , linvelBounds_(linvelBounds)
              , angvelBounds_(angvelBounds)
              , stepSize_(stepSize)
              , minControlSteps_(minControlSteps)
              , maxControlSteps_(maxControlSteps)
              , simRunning_(true)
            {
                // Replace infinite bounds with very large bounds, so, e.g., sampling can still work
                for (unsigned int i = 0; i < positionBounds_.size(); i++)
                {
                    if (positionBounds_[i] == std::numeric_limits<double>::infinity())
                        positionBounds_[i] = std::numeric_limits<double>::max() / 2;
                    else if (positionBounds_[i] == -std::numeric_limits<double>::infinity())
                        positionBounds_[i] = -std::numeric_limits<double>::max() / 2;
                }
                for (unsigned int i = 0; i < linvelBounds_.size(); i++)
                {
                    if (linvelBounds_[i] == std::numeric_limits<double>::infinity())
                        linvelBounds_[i] = std::numeric_limits<double>::max() / 2;
                    else if (linvelBounds_[i] == -std::numeric_limits<double>::infinity())
                        linvelBounds_[i] = -std::numeric_limits<double>::max() / 2;
                }
                for (unsigned int i = 0; i < angvelBounds_.size(); i++)
                {
                    if (angvelBounds_[i] == std::numeric_limits<double>::infinity())
                        angvelBounds_[i] = std::numeric_limits<double>::max() / 2;
                    else if (angvelBounds_[i] == -std::numeric_limits<double>::infinity())
                        angvelBounds_[i] = -std::numeric_limits<double>::max() / 2;
                }
            }

            ~MorseEnvironment()
            {
            }

            void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const;

            // These functions require interprocess communication and are left to be implemented in Python

            virtual void readState(State *state) = 0;

            virtual void writeState(const State *state) = 0;

            virtual void applyControl(const std::vector<double> &control) = 0;

            virtual void worldStep(const double dur) = 0;
        };
    }
}

#endif