MorseStateSpace.h
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34 
35 /* Authors: Caleb Voss */
36 
37 #ifndef OMPL_EXTENSION_MORSE_STATE_SPACE_
38 #define OMPL_EXTENSION_MORSE_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/extensions/morse/MorseEnvironment.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
49  {
50  public:
54  {
55  public:
57  {
58  }
59  };
60 
79  MorseStateSpace(const MorseEnvironmentPtr &env, double positionWeight = 1.0, double linVelWeight = 0.5,
80  double angVelWeight = 0.5, double orientationWeight = 1.0);
81 
82  virtual ~MorseStateSpace()
83  {
84  }
85 
88  {
89  return env_;
90  }
91 
93  unsigned int getNrBodies() const
94  {
95  return env_->rigidBodies_;
96  }
97 
99  void setBounds();
100 
102  void setPositionBounds(const RealVectorBounds &bounds);
103 
105  void setLinearVelocityBounds(const RealVectorBounds &bounds);
106 
108  void setAngularVelocityBounds(const RealVectorBounds &bounds);
109 
112  void readState(State *state) const;
113 
116  void writeState(const State *state) const;
117 
119  bool satisfiesBounds(const State *state) const;
120 
121  State *allocState() const;
122  void freeState(State *state) const;
123  void copyState(State *destination, const State *source) const;
124  void interpolate(const State *from, const State *to, const double t, State *state) const;
125 
128 
129  protected:
132  };
133  }
134 }
135 
136 #endif
MORSE State. This is a compound state that allows accessing the properties of the bodies the state sp...
Definition of a compound state.
Definition: State.h:86
State space representing MORSE states.
StateSamplerPtr allocStateSampler() const
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
A shared pointer wrapper for ompl::base::StateSampler.
bool satisfiesBounds(const State *state) const
This function checks whether a state satisfies its bounds.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void readState(State *state) const
Read the parameters of the MORSE bodies and store them in state.
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
A space to allow the composition of state spaces.
Definition: StateSpace.h:573
void writeState(const State *state) const
Set the parameters of the MORSE bodies to be the ones read from state.
const MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state space corresponds to.
unsigned int getNrBodies() const
Get the number of bodies this state space represents.
void setBounds()
Set the bounds given by the MorseEnvironment.
Definition of an abstract state.
Definition: State.h:49
MorseEnvironmentPtr env_
Representation of the MORSE parameters OMPL needs to plan.
State * allocState() const
Allocate a state that can store a point in the described space.
The lower and upper bounds for an Rn space.
StateSamplerPtr allocDefaultStateSampler() const
Allocate an instance of the default uniform state sampler for this space.
void setLinearVelocityBounds(const RealVectorBounds &bounds)
Set the bounds for each of the linear velocity subspaces.
void setPositionBounds(const RealVectorBounds &bounds)
Set the bounds for each of the position subspaces.
A shared pointer wrapper for ompl::base::MorseEnvironment.
void setAngularVelocityBounds(const RealVectorBounds &bounds)
Set the bounds for each of the angular velocity subspaces.
MorseStateSpace(const MorseEnvironmentPtr &env, double positionWeight=1.0, double linVelWeight=0.5, double angVelWeight=0.5, double orientationWeight=1.0)
Construct a state space representing MORSE states.
void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
void freeState(State *state) const
Free the memory of the allocated state.
void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...