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 namespace ompl
49 {
50  namespace base
51  {
53 
54  OMPL_CLASS_FORWARD(ProjectedStateSpace);
56 
59  {
60  public:
63 
66  void sampleUniform(State *state) override;
67 
71  void sampleUniformNear(State *state, const State *near, double distance) override;
72 
76  void sampleGaussian(State *state, const State *mean, double stdDev) override;
77 
78  protected:
81  };
82 
103  {
104  public:
106  ProjectedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
107  : ConstrainedStateSpace(ambientSpace, constraint)
108  {
109  setName("Projected" + space_->getName());
110  }
111 
113  ~ProjectedStateSpace() override = default;
114 
117  {
118  return std::make_shared<ProjectedStateSampler>(this, space_->allocDefaultStateSampler());
119  }
120 
123  {
124  return std::make_shared<ProjectedStateSampler>(this, space_->allocStateSampler());
125  }
126 
135  bool discreteGeodesic(const State *from, const State *to, bool interpolate = false,
136  std::vector<State *> *geodesic = nullptr) const override;
137  };
138  }
139 }
140 
141 #endif
A StateSpace that has a Constraint imposed upon it. Underlying space functions are passed to the ambi...
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...
A shared pointer wrapper for ompl::base::Constraint.
StateSampler for use for a projection-based state space.
ProjectedStateSampler(const ProjectedStateSpace *space, StateSamplerPtr sampler)
Constructor.
void sampleUniform(State *state) override
Sample a state uniformly in ambient space and project to the manifold. Return sample in state.
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...
const ConstraintPtr constraint_
Constraint.
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...
ConstrainedStateSpace encapsulating a projection-based methodology for planning with constraints.
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...
StateSamplerPtr allocStateSampler() const override
Allocate the previously set state sampler for this space.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate the default state sampler for this space.
~ProjectedStateSpace() override=default
Destructor.
ProjectedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
Construct an atlas with the specified dimensions.
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition: State.h:50
A state sampler that wraps around another state sampler.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22