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 override;
120 
121  State *allocState() const override;
122  void freeState(State *state) const override;
123  void copyState(State *destination, const State *source) const override;
124  void interpolate(const State *from, const State *to, double t, State *state) const override;
125 
126  StateSamplerPtr allocDefaultStateSampler() const override;
127  StateSamplerPtr allocStateSampler() const override;
128 
129  protected:
132  };
133  }
134 }
135 
136 #endif
Definition of a compound state.
Definition: State.h:87
void readState(State *state) const
Read the parameters of the MORSE bodies and store them in state.
A space to allow the composition of state spaces.
Definition: StateSpace.h:574
Definition of an abstract state.
Definition: State.h:50
State * allocState() const override
Allocate a state that can store a point in the described space.
void setPositionBounds(const RealVectorBounds &bounds)
Set the bounds for each of the position subspaces.
void setBounds()
Set the bounds given by the MorseEnvironment.
const MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment this state space corresponds to.
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
StateSamplerPtr allocStateSampler() const override
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
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.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
A shared pointer wrapper for ompl::base::MorseEnvironment.
State space representing MORSE states.
MORSE State. This is a compound state that allows accessing the properties of the bodies the state sp...
bool satisfiesBounds(const State *state) const override
This function checks whether a state satisfies its bounds.
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
unsigned int getNrBodies() const
Get the number of bodies this state space represents.
void setLinearVelocityBounds(const RealVectorBounds &bounds)
Set the bounds for each of the linear velocity subspaces.
A shared pointer wrapper for ompl::base::StateSampler.
void setAngularVelocityBounds(const RealVectorBounds &bounds)
Set the bounds for each of the angular velocity subspaces.
void writeState(const State *state) const
Set the parameters of the MORSE bodies to be the ones read from state.
void freeState(State *state) const override
Free the memory of the allocated state.
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
The lower and upper bounds for an Rn space.
MorseEnvironmentPtr env_
Representation of the MORSE parameters OMPL needs to plan.