SE2StateSpace.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/SE2StateSpace.h"
38 #include "ompl/tools/config/MagicConstants.h"
39 #include <cstring>
40 
42 {
43  auto *state = new StateType();
44  allocStateComponents(state);
45  return state;
46 }
47 
49 {
51 }
52 
54 {
55  class SE2DefaultProjection : public ProjectionEvaluator
56  {
57  public:
58  SE2DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
59  {
60  }
61 
62  unsigned int getDimension() const override
63  {
64  return 2;
65  }
66 
67  void defaultCellSizes() override
68  {
69  cellSizes_.resize(2);
70  bounds_ = space_->as<SE2StateSpace>()->getBounds();
71  cellSizes_[0] = (bounds_.high[0] - bounds_.low[0]) / magic::PROJECTION_DIMENSION_SPLITS;
72  cellSizes_[1] = (bounds_.high[1] - bounds_.low[1]) / magic::PROJECTION_DIMENSION_SPLITS;
73  }
74 
75  void project(const State *state, EuclideanProjection &projection) const override
76  {
77  memcpy(&projection(0),
79  2 * sizeof(double));
80  }
81  };
82 
83  registerDefaultProjection(std::make_shared<SE2DefaultProjection>(this));
84 }
A state in SE(2): (x, y, yaw)
Definition: SE2StateSpace.h:53
State * allocState() const override
Allocate a state that can store a point in the described space.
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
A state space representing SE(2)
Definition: SE2StateSpace.h:49
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition of an abstract state.
Definition: State.h:49
void freeState(State *state) const override
Free the memory of the allocated state.
double * values
The value of the actual vector in Rn
void freeState(State *state) const override
Free the memory of the allocated state.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection...
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:95
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...