ProjectedStateSpace.h
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34 
35 /* Author: Zachary Kingston */
36 
37 #ifndef OMPL_BASE_SPACES_PROJECTED_STATE_SPACE_
38 #define OMPL_BASE_SPACES_PROJECTED_STATE_SPACE_
39 
40 #include "ompl/base/MotionValidator.h"
41 #include "ompl/base/PlannerData.h"
42 #include "ompl/base/StateSampler.h"
43 #include "ompl/base/ValidStateSampler.h"
44 #include "ompl/base/Constraint.h"
45 #include "ompl/base/spaces/RealVectorStateSpace.h"
46 #include "ompl/base/spaces/constraint/ConstrainedStateSpace.h"
47 
48 #include <eigen3/Eigen/Core>
49 
50 namespace ompl
51 {
52  namespace base
53  {
55 
56  OMPL_CLASS_FORWARD(ProjectedStateSpace);
58 
61  {
62  public:
65 
68  void sampleUniform(State *state) override;
69 
73  void sampleUniformNear(State *state, const State *near, double distance) override;
74 
78  void sampleGaussian(State *state, const State *mean, double stdDev) override;
79 
80  protected:
83  };
84 
105  {
106  public:
108  ProjectedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
109  : ConstrainedStateSpace(ambientSpace, constraint)
110  {
111  setName("Projected" + space_->getName());
112  }
113 
115  ~ProjectedStateSpace() override = default;
116 
119  {
120  return std::make_shared<ProjectedStateSampler>(this, space_->allocDefaultStateSampler());
121  }
122 
125  {
126  return std::make_shared<ProjectedStateSampler>(this, space_->allocStateSampler());
127  }
128 
137  bool discreteGeodesic(const State *from, const State *to, bool interpolate = false,
138  std::vector<State *> *geodesic = nullptr) const override;
139  };
140  }
141 }
142 
143 #endif
A state sampler that wraps around another state sampler.
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::base::StateSampler.
void sampleUniform(State *state) override
Sample a state uniformly in ambient space and project to the manifold. Return sample in state...
A shared pointer wrapper for ompl::base::Constraint.
StateSamplerPtr allocStateSampler() const override
Allocate the previously set state sampler for this space.
void interpolate(const State *from, const State *to, double t, State *state) const override
Find a state between from and to around time t, where t = 0 is from, and t = 1 is the final state rea...
ProjectedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
Construct an atlas with the specified dimensions.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
StateSamplerPtr allocDefaultStateSampler() const override
Allocate the default state sampler for this space.
StateSampler for use for a projection-based state space.
Definition of an abstract state.
Definition: State.h:49
~ProjectedStateSpace() override=default
Destructor.
ProjectedStateSampler(const ProjectedStateSpace *space, StateSamplerPtr sampler)
Constructor.
ConstrainedStateSpace encapsulating a projection-based methodology for planning with constraints...
const ConstraintPtr constraint_
Constraint.
A StateSpace that has a Constraint imposed upon it. Underlying space functions are passed to the ambi...
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state uniformly from a normal distribution with given mean and stdDev in ambient space and p...
bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State *> *geodesic=nullptr) const override
Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state uniformly from the ball with center near and radius distance in ambient space and proj...