RealVectorBounds.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/RealVectorBounds.h"
38 #include "ompl/util/Exception.h"
39 #include <algorithm>
40 #include <limits>
41 
43 {
44  std::fill(low.begin(), low.end(), value);
45 }
46 
48 {
49  std::fill(high.begin(), high.end(), value);
50 }
51 
52 void ompl::base::RealVectorBounds::setLow(unsigned int index, double value)
53 {
54  low[index] = value;
55 }
56 
57 void ompl::base::RealVectorBounds::setHigh(unsigned int index, double value)
58 {
59  high[index] = value;
60 }
61 
63 {
64  unsigned int n = std::min(low.size(), high.size());
65  std::vector<double> result(n);
66  for (unsigned int i = 0; i < n; ++i)
67  result[i] = high[i] - low[i];
68  return result;
69 }
70 
72 {
73  double v = 1.0;
74  unsigned int n = std::min(low.size(), high.size());
75  for (unsigned int i = 0; i < n; ++i)
76  {
77  double d = high[i] - low[i];
78  v *= d;
79  }
80  return v;
81 }
82 
84 {
85  low.resize(size, 0.0);
86  high.resize(size, 0.0);
87 }
88 
90 {
91  if (low.size() != high.size())
92  throw Exception("Lower and upper bounds are not of same dimension");
93  for (unsigned int i = 0; i < low.size(); ++i)
94  if (low[i] > high[i])
95  throw Exception("Bounds for real vector space seem to be incorrect (lower bound must be stricly less than "
96  "upper bound). Sampling will not be possible");
97 }
void resize(std::size_t size)
Change the number of dimensions for the bounds.
std::vector< double > low
Lower bound.
void setLow(double value)
Set the lower bound in each dimension to a specific value.
void setHigh(double value)
Set the upper bound in each dimension to a specific value.
std::vector< double > getDifference() const
Get the difference between the high and low bounds for each dimension: result[i] = high[i] - low[i]...
std::vector< double > high
Upper bound.
void check() const
Check if the bounds are valid (same length for low and high, high[i] > low[i]). Throw an exception if...
The exception type for ompl.
Definition: Exception.h:46
double getVolume() const
Compute the volume of the space enclosed by the bounds.