MorseProjection.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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_ = std::vector<double>(getDimension(), 1.0);
62 }
63 
64 void ompl::base::MorseProjection::project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const
65 {
66  // this projection uses the x and y coordinates of every rigid body
68  projection.resize(getDimension());
69  for (unsigned int i = 0; i < space_->getEnvironment()->rigidBodies_; i++)
70  {
71  // for each rigid body, grab the x and y coords
72  const double *values = mstate->as<RealVectorStateSpace::StateType>(4 * i)->values;
73  projection[2 * i] = values[0];
74  projection[2 * i + 1] = values[1];
75  }
76 }
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 project(const State *state, Eigen::Ref< Eigen::VectorXd > projection) const override
Compute the projection as an array of double values.
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.
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.
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...