OpenDEEnvironment.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_EXTENSION_OPENDE_ENVIRONMENT_
38 #define OMPL_EXTENSION_OPENDE_ENVIRONMENT_
39 
40 #include "ompl/config.h"
41 #if OMPL_EXTENSION_OPENDE == 0
42 #error OpenDE extension not built
43 #endif
44 
45 #include "ompl/util/ClassForward.h"
46 
47 #include <ode/ode.h>
48 #include <vector>
49 #include <string>
50 #include <map>
51 #include <mutex>
52 
53 namespace ompl
54 {
55  namespace control
56  {
58 
59  OMPL_CLASS_FORWARD(OpenDEEnvironment);
61 
67  {
68  public:
70  dWorldID world_{nullptr};
71 
73  std::vector<dSpaceID> collisionSpaces_;
74 
78  std::vector<dBodyID> stateBodies_;
79 
81  std::map<dGeomID, std::string> geomNames_;
82 
85  bool verboseContacts_{false};
86 
88  dJointGroupID contactGroup_;
89 
91  unsigned int maxContacts_{3};
92 
94  double stepSize_{0.05};
95 
97  unsigned int maxControlSteps_{100};
98 
100  unsigned int minControlSteps_{5};
101 
103  mutable std::mutex mutex_;
104 
106  {
107  contactGroup_ = dJointGroupCreate(0);
108  }
109 
110  virtual ~OpenDEEnvironment()
111  {
112  if (contactGroup_ != nullptr)
113  dJointGroupDestroy(contactGroup_);
114  }
115 
117  virtual unsigned int getControlDimension() const = 0;
118 
120  virtual void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const = 0;
121 
125  virtual void applyControl(const double *control) const = 0;
126 
131  virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact &contact) const;
132 
136  virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const;
137 
139  virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const;
140 
142  std::string getGeomName(dGeomID geom) const;
143 
145  void setGeomName(dGeomID geom, const std::string &name);
146  };
147  }
148 }
149 
150 #endif
virtual void applyControl(const double *control) const =0
Application of a control. This function sets the forces/torques/velocities for bodies in the simulati...
virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact &contact) const
Decide whether a collision is a valid one or not. In some cases, collisions between some bodies can b...
double stepSize_
The simulation step size.
std::mutex mutex_
Lock to use when performing simulations in the world. (OpenDE simulations are NOT thread safe) ...
unsigned int minControlSteps_
The minimum number of times a control is applies in sequence.
unsigned int maxControlSteps_
The maximum number of times a control is applies in sequence.
std::vector< dSpaceID > collisionSpaces_
The set of spaces where contacts need to be evaluated before simulation takes place.
unsigned int maxContacts_
The maximum number of contacts to create between two bodies when a collision occurs.
dWorldID world_
The OpenDE world where the simulation is performed.
virtual void getControlBounds(std::vector< double > &lower, std::vector< double > &upper) const =0
Get the control bounds – the bounding box in which to sample controls.
This class contains the OpenDE constructs OMPL needs to know about when planning. ...
std::map< dGeomID, std::string > geomNames_
Optional map of names given to geoms. This is useful when collision checking is verbose.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
virtual unsigned int getControlDimension() const =0
Number of parameters (double values) needed to specify a control input.
virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const
Get the maximum number of contacts to set up between two colliding geoms. By default, this just returns the member variable maxContacts.
std::vector< dBodyID > stateBodies_
The set of bodies that need to be considered part of the state when planning. This is not necessarily...
std::string getGeomName(dGeomID geom) const
Get the name of a body.
void setGeomName(dGeomID geom, const std::string &name)
Set the name of a body.
dJointGroupID contactGroup_
The group of joints where contacts are created.
bool verboseContacts_
Issue debug messages when contacts are found. Default is false. This should only be used for debuggin...
virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const
Parameters to set when contacts are created between geom1 and geom2.