StateSpace.cpp
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34 
35 #include "ompl/base/StateSpace.h"
36 #include "ompl/util/Exception.h"
37 #include "ompl/tools/config/MagicConstants.h"
38 #include "ompl/base/spaces/RealVectorStateSpace.h"
39 #include "ompl/util/String.h"
40 #include <mutex>
41 #include <boost/scoped_ptr.hpp>
42 #include <numeric>
43 #include <limits>
44 #include <queue>
45 #include <cmath>
46 #include <list>
47 #include <set>
48 
50 
52 namespace ompl
53 {
54  namespace base
55  {
56  namespace
57  {
58  struct AllocatedSpaces
59  {
60  AllocatedSpaces() = default;
61  std::list<StateSpace *> list_;
62  std::mutex lock_;
63  unsigned int counter_{0};
64  };
65 
66  static boost::scoped_ptr<AllocatedSpaces> g_allocatedSpaces;
67  static std::once_flag g_once;
68 
69  void initAllocatedSpaces()
70  {
71  g_allocatedSpaces.reset(new AllocatedSpaces);
72  }
73 
74  AllocatedSpaces &getAllocatedSpaces()
75  {
76  std::call_once(g_once, &initAllocatedSpaces);
77  return *g_allocatedSpaces;
78  }
79  } // namespace
80  }
81 }
83 
85 {
86  AllocatedSpaces &as = getAllocatedSpaces();
87  std::lock_guard<std::mutex> smLock(as.lock_);
88 
89  // autocompute a unique name
90  name_ = "Space" + std::to_string(as.counter_++);
91 
93  longestValidSegmentFraction_ = 0.01; // 1%
95 
97 
98  maxExtent_ = std::numeric_limits<double>::infinity();
99 
100  params_.declareParam<double>("longest_valid_segment_fraction",
101  [this](double segmentFraction) { setLongestValidSegmentFraction(segmentFraction); },
102  [this] { return getLongestValidSegmentFraction(); });
103 
104  params_.declareParam<unsigned int>("valid_segment_count_factor",
105  [this](unsigned int factor) { setValidSegmentCountFactor(factor); },
106  [this] { return getValidSegmentCountFactor(); });
107  as.list_.push_back(this);
108 }
109 
110 ompl::base::StateSpace::~StateSpace()
111 {
112  AllocatedSpaces &as = getAllocatedSpaces();
113  std::lock_guard<std::mutex> smLock(as.lock_);
114  as.list_.remove(this);
115 }
116 
118 namespace ompl
119 {
120  namespace base
121  {
122  static void computeStateSpaceSignatureHelper(const StateSpace *space, std::vector<int> &signature)
123  {
124  signature.push_back(space->getType());
125  signature.push_back(space->getDimension());
126 
127  if (space->isCompound())
128  {
129  unsigned int c = space->as<CompoundStateSpace>()->getSubspaceCount();
130  for (unsigned int i = 0; i < c; ++i)
131  computeStateSpaceSignatureHelper(space->as<CompoundStateSpace>()->getSubspace(i).get(), signature);
132  }
133  }
134 
135  void computeLocationsHelper(const StateSpace *s,
136  std::map<std::string, StateSpace::SubstateLocation> &substateMap,
137  std::vector<StateSpace::ValueLocation> &locationsArray,
138  std::map<std::string, StateSpace::ValueLocation> &locationsMap,
139  StateSpace::ValueLocation loc)
140  {
141  loc.stateLocation.space = s;
142  substateMap[s->getName()] = loc.stateLocation;
143  State *test = s->allocState();
144  if (s->getValueAddressAtIndex(test, 0) != nullptr)
145  {
146  loc.index = 0;
147  locationsMap[s->getName()] = loc;
148  // if the space is compound, we will find this value again in the first subspace
149  if (!s->isCompound())
150  {
151  if (s->getType() == base::STATE_SPACE_REAL_VECTOR)
152  {
153  const std::string &name = s->as<base::RealVectorStateSpace>()->getDimensionName(0);
154  if (!name.empty())
155  locationsMap[name] = loc;
156  }
157  locationsArray.push_back(loc);
158  while (s->getValueAddressAtIndex(test, ++loc.index) != nullptr)
159  {
160  if (s->getType() == base::STATE_SPACE_REAL_VECTOR)
161  {
162  const std::string &name = s->as<base::RealVectorStateSpace>()->getDimensionName(loc.index);
163  if (!name.empty())
164  locationsMap[name] = loc;
165  }
166  locationsArray.push_back(loc);
167  }
168  }
169  }
170  s->freeState(test);
171 
172  if (s->isCompound())
173  for (unsigned int i = 0; i < s->as<base::CompoundStateSpace>()->getSubspaceCount(); ++i)
174  {
175  loc.stateLocation.chain.push_back(i);
176  computeLocationsHelper(s->as<base::CompoundStateSpace>()->getSubspace(i).get(), substateMap,
177  locationsArray, locationsMap, loc);
178  loc.stateLocation.chain.pop_back();
179  }
180  }
181 
182  void computeLocationsHelper(const StateSpace *s,
183  std::map<std::string, StateSpace::SubstateLocation> &substateMap,
184  std::vector<StateSpace::ValueLocation> &locationsArray,
185  std::map<std::string, StateSpace::ValueLocation> &locationsMap)
186  {
187  substateMap.clear();
188  locationsArray.clear();
189  locationsMap.clear();
190  computeLocationsHelper(s, substateMap, locationsArray, locationsMap, StateSpace::ValueLocation());
191  }
192  }
193 }
195 
196 const std::string &ompl::base::StateSpace::getName() const
197 {
198  return name_;
199 }
200 
201 void ompl::base::StateSpace::setName(const std::string &name)
202 {
203  name_ = name;
204 
205  // we don't want to call this function during the state space construction because calls to virtual functions are
206  // made,
207  // so we check if any values were previously inserted as value locations;
208  // if none were, then we either have none (so no need to call this function again)
209  // or setup() was not yet called
210  if (!valueLocationsInOrder_.empty())
211  computeLocationsHelper(this, substateLocationsByName_, valueLocationsInOrder_, valueLocationsByName_);
212 }
213 
215 {
216  computeLocationsHelper(this, substateLocationsByName_, valueLocationsInOrder_, valueLocationsByName_);
217 }
218 
219 void ompl::base::StateSpace::computeSignature(std::vector<int> &signature) const
220 {
221  signature.clear();
222  computeStateSpaceSignatureHelper(this, signature);
223  signature.insert(signature.begin(), signature.size());
224 }
225 
227 {
228  State *copy = allocState();
229  copyState(copy, source);
230  return copy;
231 }
232 
234 {
235 }
236 
238 {
239  maxExtent_ = getMaximumExtent();
240  longestValidSegment_ = maxExtent_ * longestValidSegmentFraction_;
241 
242  if (longestValidSegment_ < std::numeric_limits<double>::epsilon())
243  {
244  std::stringstream error;
245  error << "The longest valid segment for state space " + getName() + " must be positive." << std::endl;
246  error << "Space settings:" << std::endl;
247  printSettings(error);
248  throw Exception(error.str());
249  }
250 
251  computeLocationsHelper(this, substateLocationsByName_, valueLocationsInOrder_, valueLocationsByName_);
252 
253  // make sure we don't overwrite projections that have been configured by the user
254  std::map<std::string, ProjectionEvaluatorPtr> oldProjections = projections_;
255  registerProjections();
256  for (auto &oldProjection : oldProjections)
257  if (oldProjection.second->userConfigured())
258  {
259  auto o = projections_.find(oldProjection.first);
260  if (o != projections_.end())
261  if (!o->second->userConfigured())
262  projections_[oldProjection.first] = oldProjection.second;
263  }
264 
265  // remove previously set parameters for projections
266  std::vector<std::string> pnames;
267  params_.getParamNames(pnames);
268  for (const auto &pname : pnames)
269  if (pname.substr(0, 11) == "projection.")
270  params_.remove(pname);
271 
272  // setup projections and add their parameters
273  for (const auto &projection : projections_)
274  {
275  projection.second->setup();
276  if (projection.first == DEFAULT_PROJECTION_NAME)
277  params_.include(projection.second->params(), "projection");
278  else
279  params_.include(projection.second->params(), "projection." + projection.first);
280  }
281 }
282 
283 const std::map<std::string, ompl::base::StateSpace::SubstateLocation> &
285 {
286  return substateLocationsByName_;
287 }
288 
290 {
291  std::size_t index = 0;
292  while (loc.chain.size() > index)
293  state = state->as<CompoundState>()->components[loc.chain[index++]];
294  return state;
295 }
296 
298  const SubstateLocation &loc) const
299 {
300  std::size_t index = 0;
301  while (loc.chain.size() > index)
302  state = state->as<CompoundState>()->components[loc.chain[index++]];
303  return state;
304 }
305 
306 double *ompl::base::StateSpace::getValueAddressAtIndex(State * /*state*/, const unsigned int /*index*/) const
307 {
308  return nullptr;
309 }
310 
311 const double *ompl::base::StateSpace::getValueAddressAtIndex(const State *state, const unsigned int index) const
312 {
313  double *val = getValueAddressAtIndex(const_cast<State *>(state),
314  index); // this const-cast does not hurt, since the state is not modified
315  return val;
316 }
317 
318 const std::vector<ompl::base::StateSpace::ValueLocation> &ompl::base::StateSpace::getValueLocations() const
319 {
320  return valueLocationsInOrder_;
321 }
322 
323 const std::map<std::string, ompl::base::StateSpace::ValueLocation> &
325 {
326  return valueLocationsByName_;
327 }
328 
329 void ompl::base::StateSpace::copyToReals(std::vector<double> &reals, const State *source) const
330 {
331  const auto &locations = getValueLocations();
332  reals.resize(locations.size());
333  for (std::size_t i = 0; i < locations.size(); ++i)
334  reals[i] = *getValueAddressAtLocation(source, locations[i]);
335 }
336 
337 void ompl::base::StateSpace::copyFromReals(State *destination, const std::vector<double> &reals) const
338 {
339  const auto &locations = getValueLocations();
340  assert(reals.size() == locations.size());
341  for (std::size_t i = 0; i < reals.size(); ++i)
342  *getValueAddressAtLocation(destination, locations[i]) = reals[i];
343 }
344 
346 {
347  std::size_t index = 0;
348  while (loc.stateLocation.chain.size() > index)
349  state = state->as<CompoundState>()->components[loc.stateLocation.chain[index++]];
350  return loc.stateLocation.space->getValueAddressAtIndex(state, loc.index);
351 }
352 
353 const double *ompl::base::StateSpace::getValueAddressAtLocation(const State *state, const ValueLocation &loc) const
354 {
355  std::size_t index = 0;
356  while (loc.stateLocation.chain.size() > index)
357  state = state->as<CompoundState>()->components[loc.stateLocation.chain[index++]];
358  return loc.stateLocation.space->getValueAddressAtIndex(state, loc.index);
359 }
360 
361 double *ompl::base::StateSpace::getValueAddressAtName(State *state, const std::string &name) const
362 {
363  const auto &locations = getValueLocationsByName();
364  auto it = locations.find(name);
365  return (it != locations.end()) ? getValueAddressAtLocation(state, it->second) : nullptr;
366 }
367 
368 const double *ompl::base::StateSpace::getValueAddressAtName(const State *state, const std::string &name) const
369 {
370  const auto &locations = getValueLocationsByName();
371  auto it = locations.find(name);
372  return (it != locations.end()) ? getValueAddressAtLocation(state, it->second) : nullptr;
373 }
374 
376 {
377  return 0;
378 }
379 
380 void ompl::base::StateSpace::serialize(void * /*serialization*/, const State * /*state*/) const
381 {
382 }
383 
384 void ompl::base::StateSpace::deserialize(State * /*state*/, const void * /*serialization*/) const
385 {
386 }
387 
388 void ompl::base::StateSpace::printState(const State *state, std::ostream &out) const
389 {
390  out << "State instance [" << state << ']' << std::endl;
391 }
392 
393 void ompl::base::StateSpace::printSettings(std::ostream &out) const
394 {
395  out << "StateSpace '" << getName() << "' instance: " << this << std::endl;
396  printProjections(out);
397 }
398 
399 void ompl::base::StateSpace::printProjections(std::ostream &out) const
400 {
401  if (projections_.empty())
402  out << "No registered projections" << std::endl;
403  else
404  {
405  out << "Registered projections:" << std::endl;
406  for (const auto &projection : projections_)
407  {
408  out << " - ";
409  if (projection.first == DEFAULT_PROJECTION_NAME)
410  out << "<default>";
411  else
412  out << projection.first;
413  out << std::endl;
414  projection.second->printSettings(out);
415  }
416  }
417 }
418 
420 namespace ompl
421 {
422  namespace base
423  {
424  static bool StateSpaceIncludes(const StateSpace *self, const StateSpace *other)
425  {
426  std::queue<const StateSpace *> q;
427  q.push(self);
428  while (!q.empty())
429  {
430  const StateSpace *m = q.front();
431  q.pop();
432  if (m->getName() == other->getName())
433  return true;
434  if (m->isCompound())
435  {
436  unsigned int c = m->as<CompoundStateSpace>()->getSubspaceCount();
437  for (unsigned int i = 0; i < c; ++i)
438  q.push(m->as<CompoundStateSpace>()->getSubspace(i).get());
439  }
440  }
441  return false;
442  }
443 
444  static bool StateSpaceCovers(const StateSpace *self, const StateSpace *other)
445  {
446  if (StateSpaceIncludes(self, other))
447  return true;
448  else if (other->isCompound())
449  {
450  unsigned int c = other->as<CompoundStateSpace>()->getSubspaceCount();
451  for (unsigned int i = 0; i < c; ++i)
452  if (!StateSpaceCovers(self, other->as<CompoundStateSpace>()->getSubspace(i).get()))
453  return false;
454  return true;
455  }
456  return false;
457  }
458 
459  struct CompareSubstateLocation
460  {
461  bool operator()(const StateSpace::SubstateLocation &a, const StateSpace::SubstateLocation &b) const
462  {
463  if (a.space->getDimension() != b.space->getDimension())
464  return a.space->getDimension() > b.space->getDimension();
465  return a.space->getName() > b.space->getName();
466  }
467  };
468  }
469 }
470 
472 
474 {
475  return StateSpaceCovers(this, other.get());
476 }
477 
479 {
480  return StateSpaceIncludes(this, other.get());
481 }
482 
484 {
485  return StateSpaceCovers(this, other);
486 }
487 
489 {
490  return StateSpaceIncludes(this, other);
491 }
492 
493 void ompl::base::StateSpace::getCommonSubspaces(const StateSpacePtr &other, std::vector<std::string> &subspaces) const
494 {
495  getCommonSubspaces(other.get(), subspaces);
496 }
497 
498 void ompl::base::StateSpace::getCommonSubspaces(const StateSpace *other, std::vector<std::string> &subspaces) const
499 {
500  std::set<StateSpace::SubstateLocation, CompareSubstateLocation> intersection;
501  const std::map<std::string, StateSpace::SubstateLocation> &S = other->getSubstateLocationsByName();
502  for (const auto &it : substateLocationsByName_)
503  {
504  if (S.find(it.first) != S.end())
505  intersection.insert(it.second);
506  }
507 
508  bool found = true;
509  while (found)
510  {
511  found = false;
512  for (auto it = intersection.begin(); it != intersection.end(); ++it)
513  for (auto jt = intersection.begin(); jt != intersection.end(); ++jt)
514  if (it != jt)
515  if (StateSpaceCovers(it->space, jt->space))
516  {
517  intersection.erase(jt);
518  found = true;
519  break;
520  }
521  }
522  subspaces.clear();
523  for (const auto &it : intersection)
524  subspaces.push_back(it.space->getName());
525 }
526 
527 void ompl::base::StateSpace::List(std::ostream &out)
528 {
529  AllocatedSpaces &as = getAllocatedSpaces();
530  std::lock_guard<std::mutex> smLock(as.lock_);
531  for (auto &it : as.list_)
532  out << "@ " << it << ": " << it->getName() << std::endl;
533 }
534 
535 void ompl::base::StateSpace::list(std::ostream &out) const
536 {
537  std::queue<const StateSpace *> q;
538  q.push(this);
539  while (!q.empty())
540  {
541  const StateSpace *m = q.front();
542  q.pop();
543  out << "@ " << m << ": " << m->getName() << std::endl;
544  if (m->isCompound())
545  {
546  unsigned int c = m->as<CompoundStateSpace>()->getSubspaceCount();
547  for (unsigned int i = 0; i < c; ++i)
548  q.push(m->as<CompoundStateSpace>()->getSubspace(i).get());
549  }
550  }
551 }
552 
553 void ompl::base::StateSpace::diagram(std::ostream &out) const
554 {
555  out << "digraph StateSpace {" << std::endl;
556  out << '"' << getName() << '"' << std::endl;
557 
558  std::queue<const StateSpace *> q;
559  q.push(this);
560  while (!q.empty())
561  {
562  const StateSpace *m = q.front();
563  q.pop();
564  if (m->isCompound())
565  {
566  unsigned int c = m->as<CompoundStateSpace>()->getSubspaceCount();
567  for (unsigned int i = 0; i < c; ++i)
568  {
569  const StateSpace *s = m->as<CompoundStateSpace>()->getSubspace(i).get();
570  q.push(s);
571  out << '"' << m->getName() << R"(" -> ")" << s->getName() << R"(" [label=")"
572  << ompl::toString(m->as<CompoundStateSpace>()->getSubspaceWeight(i)) << R"("];)" << std::endl;
573  }
574  }
575  }
576 
577  out << '}' << std::endl;
578 }
579 
580 void ompl::base::StateSpace::Diagram(std::ostream &out)
581 {
582  AllocatedSpaces &as = getAllocatedSpaces();
583  std::lock_guard<std::mutex> smLock(as.lock_);
584  out << "digraph StateSpaces {" << std::endl;
585  for (auto it = as.list_.begin(); it != as.list_.end(); ++it)
586  {
587  out << '"' << (*it)->getName() << '"' << std::endl;
588  for (auto jt = as.list_.begin(); jt != as.list_.end(); ++jt)
589  if (it != jt)
590  {
591  if ((*it)->isCompound() && (*it)->as<CompoundStateSpace>()->hasSubspace((*jt)->getName()))
592  out << '"' << (*it)->getName() << R"(" -> ")" << (*jt)->getName() << R"(" [label=")"
593  << ompl::toString((*it)->as<CompoundStateSpace>()->getSubspaceWeight((*jt)->getName())) <<
594  R"("];)" << std::endl;
595  else if (!StateSpaceIncludes(*it, *jt) && StateSpaceCovers(*it, *jt))
596  out << '"' << (*it)->getName() << R"(" -> ")" << (*jt)->getName() << R"(" [style=dashed];)"
597  << std::endl;
598  }
599  }
600  out << '}' << std::endl;
601 }
602 
604 {
605  unsigned int flags = isMetricSpace() ? ~0 : ~(STATESPACE_DISTANCE_SYMMETRIC | STATESPACE_TRIANGLE_INEQUALITY);
606  sanityChecks(std::numeric_limits<double>::epsilon(), std::numeric_limits<float>::epsilon(), flags);
607 }
608 
609 void ompl::base::StateSpace::sanityChecks(double zero, double eps, unsigned int flags) const
610 {
611  {
612  double maxExt = getMaximumExtent();
613 
614  State *s1 = allocState();
615  State *s2 = allocState();
616  StateSamplerPtr ss = allocStateSampler();
617  char *serialization = nullptr;
618  if ((flags & STATESPACE_SERIALIZATION) && getSerializationLength() > 0)
619  serialization = new char[getSerializationLength()];
620  for (unsigned int i = 0; i < magic::TEST_STATE_COUNT; ++i)
621  {
622  ss->sampleUniform(s1);
623  if (distance(s1, s1) > eps)
624  throw Exception("Distance from a state to itself should be 0");
625  if (!equalStates(s1, s1))
626  throw Exception("A state should be equal to itself");
627  if ((flags & STATESPACE_RESPECT_BOUNDS) && !satisfiesBounds(s1))
628  throw Exception("Sampled states should be within bounds");
629  copyState(s2, s1);
630  if (!equalStates(s1, s2))
631  throw Exception("Copy of a state is not the same as the original state. copyState() may not work "
632  "correctly.");
633  if (flags & STATESPACE_ENFORCE_BOUNDS_NO_OP)
634  {
635  enforceBounds(s1);
636  if (!equalStates(s1, s2))
637  throw Exception("enforceBounds() seems to modify states that are in fact within bounds.");
638  }
639  if (flags & STATESPACE_SERIALIZATION)
640  {
641  ss->sampleUniform(s2);
642  serialize(serialization, s1);
643  deserialize(s2, serialization);
644  if (!equalStates(s1, s2))
645  throw Exception("Serialization/deserialization operations do not seem to work as expected.");
646  }
647  ss->sampleUniform(s2);
648  if (!equalStates(s1, s2))
649  {
650  double d12 = distance(s1, s2);
651  if ((flags & STATESPACE_DISTANCE_DIFFERENT_STATES) && d12 < zero)
652  throw Exception("Distance between different states should be above 0");
653  double d21 = distance(s2, s1);
654  if ((flags & STATESPACE_DISTANCE_SYMMETRIC) && fabs(d12 - d21) > eps)
655  throw Exception("The distance function should be symmetric (A->B=" + ompl::toString(d12) +
656  ", B->A=" + ompl::toString(d21) + ", difference is " +
657  ompl::toString(fabs(d12 - d21)) + ")");
658  if (flags & STATESPACE_DISTANCE_BOUND)
659  if (d12 > maxExt + zero)
660  throw Exception("The distance function should not report values larger than the maximum extent "
661  "(" +
662  ompl::toString(d12) + " > " + ompl::toString(maxExt) + ")");
663  }
664  }
665  if (serialization)
666  delete[] serialization;
667  freeState(s1);
668  freeState(s2);
669  }
670 
671  // Test that interpolation works as expected and also test triangle inequality
672  if (!isDiscrete() && !isHybrid() && (flags & (STATESPACE_INTERPOLATION | STATESPACE_TRIANGLE_INEQUALITY)))
673  {
674  State *s1 = allocState();
675  State *s2 = allocState();
676  State *s3 = allocState();
677  StateSamplerPtr ss = allocStateSampler();
678 
679  for (unsigned int i = 0; i < magic::TEST_STATE_COUNT; ++i)
680  {
681  ss->sampleUniform(s1);
682  ss->sampleUniform(s2);
683  ss->sampleUniform(s3);
684 
685  interpolate(s1, s2, 0.0, s3);
686  if ((flags & STATESPACE_INTERPOLATION) && distance(s1, s3) > eps)
687  throw Exception("Interpolation from a state at time 0 should be not change the original state");
688 
689  interpolate(s1, s2, 1.0, s3);
690  if ((flags & STATESPACE_INTERPOLATION) && distance(s2, s3) > eps)
691  throw Exception("Interpolation to a state at time 1 should be the same as the final state");
692 
693  interpolate(s1, s2, 0.5, s3);
694  double diff = distance(s1, s3) + distance(s3, s2) - distance(s1, s2);
695  if ((flags & STATESPACE_TRIANGLE_INEQUALITY) && diff < -eps)
696  throw Exception("Interpolation to midpoint state does not lead to distances that satisfy the triangle "
697  "inequality (" +
698  ompl::toString(diff) + " difference)");
699 
700  interpolate(s3, s2, 0.5, s3);
701  interpolate(s1, s2, 0.75, s2);
702 
703  if ((flags & STATESPACE_INTERPOLATION) && distance(s2, s3) > eps)
704  throw Exception("Continued interpolation does not work as expected. Please also check that "
705  "interpolate() works with overlapping memory for its state arguments");
706  }
707  freeState(s1);
708  freeState(s2);
709  freeState(s3);
710  }
711 }
712 
714 {
715  return hasProjection(DEFAULT_PROJECTION_NAME);
716 }
717 
718 bool ompl::base::StateSpace::hasProjection(const std::string &name) const
719 {
720  return projections_.find(name) != projections_.end();
721 }
722 
724 {
725  if (hasDefaultProjection())
726  return getProjection(DEFAULT_PROJECTION_NAME);
727  else
728  {
729  OMPL_ERROR("No default projection is set. Perhaps setup() needs to be called");
730  return ProjectionEvaluatorPtr();
731  }
732 }
733 
735 {
736  auto it = projections_.find(name);
737  if (it != projections_.end())
738  return it->second;
739  else
740  {
741  OMPL_ERROR("Projection '%s' is not defined", name.c_str());
742  return ProjectionEvaluatorPtr();
743  }
744 }
745 
746 const std::map<std::string, ompl::base::ProjectionEvaluatorPtr> &
748 {
749  return projections_;
750 }
751 
753 {
754  registerProjection(DEFAULT_PROJECTION_NAME, projection);
755 }
756 
757 void ompl::base::StateSpace::registerProjection(const std::string &name, const ProjectionEvaluatorPtr &projection)
758 {
759  if (projection)
760  projections_[name] = projection;
761  else
762  OMPL_ERROR("Attempting to register invalid projection under name '%s'. Ignoring.", name.c_str());
763 }
764 
766 {
767  return false;
768 }
769 
771 {
772  return false;
773 }
774 
776 {
777  return false;
778 }
779 
781 {
782  return true;
783 }
784 
786 {
787  return true;
788 }
789 
791 {
792  ssa_ = ssa;
793 }
794 
796 {
797  ssa_ = StateSamplerAllocator();
798 }
799 
801 {
802  if (ssa_)
803  return ssa_(this);
804  else
805  return allocDefaultStateSampler();
806 }
807 
809 {
810  return allocSubspaceStateSampler(subspace.get());
811 }
812 
814 {
815  if (subspace->getName() == getName())
816  return allocStateSampler();
817  return std::make_shared<SubspaceStateSampler>(this, subspace, 1.0);
818 }
819 
821 {
822  if (factor < 1)
823  throw Exception("The multiplicative factor for the valid segment count between two states must be strictly "
824  "positive");
825  longestValidSegmentCountFactor_ = factor;
826 }
827 
829 {
830  if (segmentFraction < std::numeric_limits<double>::epsilon() ||
831  segmentFraction > 1.0 - std::numeric_limits<double>::epsilon())
832  throw Exception("The fraction of the extent must be larger than 0 and less than 1");
833  longestValidSegmentFraction_ = segmentFraction;
834 }
835 
837 {
838  return longestValidSegmentCountFactor_;
839 }
840 
842 {
843  return longestValidSegmentFraction_;
844 }
845 
847 {
848  return longestValidSegment_;
849 }
850 
851 unsigned int ompl::base::StateSpace::validSegmentCount(const State *state1, const State *state2) const
852 {
853  return longestValidSegmentCountFactor_ * (unsigned int)ceil(distance(state1, state2) / longestValidSegment_);
854 }
855 
857 {
858  setName("Compound" + getName());
859 }
860 
861 ompl::base::CompoundStateSpace::CompoundStateSpace(const std::vector<StateSpacePtr> &components,
862  const std::vector<double> &weights)
863 {
864  if (components.size() != weights.size())
865  throw Exception("Number of component spaces and weights are not the same");
866  setName("Compound" + getName());
867  for (unsigned int i = 0; i < components.size(); ++i)
868  addSubspace(components[i], weights[i]);
869 }
870 
871 void ompl::base::CompoundStateSpace::addSubspace(const StateSpacePtr &component, double weight)
872 {
873  if (locked_)
874  throw Exception("This state space is locked. No further components can be added");
875  if (weight < 0.0)
876  throw Exception("Subspace weight cannot be negative");
877  components_.push_back(component);
878  weights_.push_back(weight);
879  weightSum_ += weight;
880  componentCount_ = components_.size();
881 }
882 
884 {
885  return true;
886 }
887 
889 {
890  bool c = false;
891  bool d = false;
892  for (const auto &component : components_)
893  {
894  if (component->isHybrid())
895  return true;
896  if (component->isDiscrete())
897  d = true;
898  else
899  c = true;
900  }
901  return c && d;
902 }
903 
905 {
906  return componentCount_;
907 }
908 
910 {
911  if (componentCount_ > index)
912  return components_[index];
913  else
914  throw Exception("Subspace index does not exist");
915 }
916 
917 bool ompl::base::CompoundStateSpace::hasSubspace(const std::string &name) const
918 {
919  for (const auto &component : components_)
920  if (component->getName() == name)
921  return true;
922  return false;
923 }
924 
925 unsigned int ompl::base::CompoundStateSpace::getSubspaceIndex(const std::string &name) const
926 {
927  for (unsigned int i = 0; i < componentCount_; ++i)
928  if (components_[i]->getName() == name)
929  return i;
930  throw Exception("Subspace " + name + " does not exist");
931 }
932 
934 {
935  return components_[getSubspaceIndex(name)];
936 }
937 
938 double ompl::base::CompoundStateSpace::getSubspaceWeight(const unsigned int index) const
939 {
940  if (componentCount_ > index)
941  return weights_[index];
942  else
943  throw Exception("Subspace index does not exist");
944 }
945 
946 double ompl::base::CompoundStateSpace::getSubspaceWeight(const std::string &name) const
947 {
948  for (unsigned int i = 0; i < componentCount_; ++i)
949  if (components_[i]->getName() == name)
950  return weights_[i];
951  throw Exception("Subspace " + name + " does not exist");
952 }
953 
954 void ompl::base::CompoundStateSpace::setSubspaceWeight(const unsigned int index, double weight)
955 {
956  if (weight < 0.0)
957  throw Exception("Subspace weight cannot be negative");
958  if (componentCount_ > index)
959  {
960  weightSum_ += weight - weights_[index];
961  weights_[index] = weight;
962  }
963  else
964  throw Exception("Subspace index does not exist");
965 }
966 
967 void ompl::base::CompoundStateSpace::setSubspaceWeight(const std::string &name, double weight)
968 {
969  for (unsigned int i = 0; i < componentCount_; ++i)
970  if (components_[i]->getName() == name)
971  {
972  setSubspaceWeight(i, weight);
973  return;
974  }
975  throw Exception("Subspace " + name + " does not exist");
976 }
977 
978 const std::vector<ompl::base::StateSpacePtr> &ompl::base::CompoundStateSpace::getSubspaces() const
979 {
980  return components_;
981 }
982 
983 const std::vector<double> &ompl::base::CompoundStateSpace::getSubspaceWeights() const
984 {
985  return weights_;
986 }
987 
989 {
990  unsigned int dim = 0;
991  for (unsigned int i = 0; i < componentCount_; ++i)
992  dim += components_[i]->getDimension();
993  return dim;
994 }
995 
997 {
998  double e = 0.0;
999  for (unsigned int i = 0; i < componentCount_; ++i)
1000  if (weights_[i] >= std::numeric_limits<double>::epsilon()) // avoid possible multiplication of 0 times infinity
1001  e += weights_[i] * components_[i]->getMaximumExtent();
1002  return e;
1003 }
1004 
1006 {
1007  double m = 1.0;
1008  for (unsigned int i = 0; i < componentCount_; ++i)
1009  if (weights_[i] >= std::numeric_limits<double>::epsilon()) // avoid possible multiplication of 0 times infinity
1010  m *= weights_[i] * components_[i]->getMeasure();
1011  return m;
1012 }
1013 
1015 {
1016  auto *cstate = static_cast<CompoundState *>(state);
1017  for (unsigned int i = 0; i < componentCount_; ++i)
1018  components_[i]->enforceBounds(cstate->components[i]);
1019 }
1020 
1022 {
1023  const auto *cstate = static_cast<const CompoundState *>(state);
1024  for (unsigned int i = 0; i < componentCount_; ++i)
1025  if (!components_[i]->satisfiesBounds(cstate->components[i]))
1026  return false;
1027  return true;
1028 }
1029 
1030 void ompl::base::CompoundStateSpace::copyState(State *destination, const State *source) const
1031 {
1032  auto *cdest = static_cast<CompoundState *>(destination);
1033  const auto *csrc = static_cast<const CompoundState *>(source);
1034  for (unsigned int i = 0; i < componentCount_; ++i)
1035  components_[i]->copyState(cdest->components[i], csrc->components[i]);
1036 }
1037 
1039 {
1040  unsigned int l = 0;
1041  for (const auto &component : components_)
1042  l += component->getSerializationLength();
1043  return l;
1044 }
1045 
1046 void ompl::base::CompoundStateSpace::serialize(void *serialization, const State *state) const
1047 {
1048  const auto *cstate = static_cast<const CompoundState *>(state);
1049  unsigned int l = 0;
1050  for (unsigned int i = 0; i < componentCount_; ++i)
1051  {
1052  components_[i]->serialize(reinterpret_cast<char *>(serialization) + l, cstate->components[i]);
1053  l += components_[i]->getSerializationLength();
1054  }
1055 }
1056 
1057 void ompl::base::CompoundStateSpace::deserialize(State *state, const void *serialization) const
1058 {
1059  auto *cstate = static_cast<CompoundState *>(state);
1060  unsigned int l = 0;
1061  for (unsigned int i = 0; i < componentCount_; ++i)
1062  {
1063  components_[i]->deserialize(cstate->components[i], reinterpret_cast<const char *>(serialization) + l);
1064  l += components_[i]->getSerializationLength();
1065  }
1066 }
1067 
1068 double ompl::base::CompoundStateSpace::distance(const State *state1, const State *state2) const
1069 {
1070  const auto *cstate1 = static_cast<const CompoundState *>(state1);
1071  const auto *cstate2 = static_cast<const CompoundState *>(state2);
1072  double dist = 0.0;
1073  for (unsigned int i = 0; i < componentCount_; ++i)
1074  dist += weights_[i] * components_[i]->distance(cstate1->components[i], cstate2->components[i]);
1075  return dist;
1076 }
1077 
1079 {
1081  for (const auto &component : components_)
1082  component->setLongestValidSegmentFraction(segmentFraction);
1083 }
1084 
1085 unsigned int ompl::base::CompoundStateSpace::validSegmentCount(const State *state1, const State *state2) const
1086 {
1087  const auto *cstate1 = static_cast<const CompoundState *>(state1);
1088  const auto *cstate2 = static_cast<const CompoundState *>(state2);
1089  unsigned int sc = 0;
1090  for (unsigned int i = 0; i < componentCount_; ++i)
1091  {
1092  unsigned int sci = components_[i]->validSegmentCount(cstate1->components[i], cstate2->components[i]);
1093  if (sci > sc)
1094  sc = sci;
1095  }
1096  return sc;
1097 }
1098 
1099 bool ompl::base::CompoundStateSpace::equalStates(const State *state1, const State *state2) const
1100 {
1101  const auto *cstate1 = static_cast<const CompoundState *>(state1);
1102  const auto *cstate2 = static_cast<const CompoundState *>(state2);
1103  for (unsigned int i = 0; i < componentCount_; ++i)
1104  if (!components_[i]->equalStates(cstate1->components[i], cstate2->components[i]))
1105  return false;
1106  return true;
1107 }
1108 
1109 void ompl::base::CompoundStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
1110 {
1111  const auto *cfrom = static_cast<const CompoundState *>(from);
1112  const auto *cto = static_cast<const CompoundState *>(to);
1113  auto *cstate = static_cast<CompoundState *>(state);
1114  for (unsigned int i = 0; i < componentCount_; ++i)
1115  components_[i]->interpolate(cfrom->components[i], cto->components[i], t, cstate->components[i]);
1116 }
1117 
1119 {
1120  auto ss(std::make_shared<CompoundStateSampler>(this));
1121  if (weightSum_ < std::numeric_limits<double>::epsilon())
1122  for (unsigned int i = 0; i < componentCount_; ++i)
1123  ss->addSampler(components_[i]->allocStateSampler(), 1.0);
1124  else
1125  for (unsigned int i = 0; i < componentCount_; ++i)
1126  ss->addSampler(components_[i]->allocStateSampler(), weights_[i] / weightSum_);
1127  return ss;
1128 }
1129 
1131 {
1132  if (subspace->getName() == getName())
1133  return allocStateSampler();
1134  if (hasSubspace(subspace->getName()))
1135  return std::make_shared<SubspaceStateSampler>(this, subspace,
1136  getSubspaceWeight(subspace->getName()) / weightSum_);
1137  return StateSpace::allocSubspaceStateSampler(subspace);
1138 }
1139 
1141 {
1142  auto *state = new CompoundState();
1143  allocStateComponents(state);
1144  return static_cast<State *>(state);
1145 }
1146 
1148 {
1149  state->components = new State *[componentCount_];
1150  for (unsigned int i = 0; i < componentCount_; ++i)
1151  state->components[i] = components_[i]->allocState();
1152 }
1153 
1155 {
1156  auto *cstate = static_cast<CompoundState *>(state);
1157  for (unsigned int i = 0; i < componentCount_; ++i)
1158  components_[i]->freeState(cstate->components[i]);
1159  delete[] cstate->components;
1160  delete cstate;
1161 }
1162 
1164 {
1165  locked_ = true;
1166 }
1167 
1169 {
1170  return locked_;
1171 }
1172 
1173 double *ompl::base::CompoundStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
1174 {
1175  auto *cstate = static_cast<CompoundState *>(state);
1176  unsigned int idx = 0;
1177 
1178  for (unsigned int i = 0; i < componentCount_; ++i)
1179  for (unsigned int j = 0; j <= index; ++j)
1180  {
1181  double *va = components_[i]->getValueAddressAtIndex(cstate->components[i], j);
1182  if (va)
1183  {
1184  if (idx == index)
1185  return va;
1186  else
1187  idx++;
1188  }
1189  else
1190  break;
1191  }
1192  return nullptr;
1193 }
1194 
1195 void ompl::base::CompoundStateSpace::printState(const State *state, std::ostream &out) const
1196 {
1197  out << "Compound state [" << std::endl;
1198  const auto *cstate = static_cast<const CompoundState *>(state);
1199  for (unsigned int i = 0; i < componentCount_; ++i)
1200  components_[i]->printState(cstate->components[i], out);
1201  out << "]" << std::endl;
1202 }
1203 
1205 {
1206  out << "Compound state space '" << getName() << "' of dimension " << getDimension()
1207  << (isLocked() ? " (locked)" : "") << " [" << std::endl;
1208  for (unsigned int i = 0; i < componentCount_; ++i)
1209  {
1210  components_[i]->printSettings(out);
1211  out << " of weight " << weights_[i] << std::endl;
1212  }
1213  out << "]" << std::endl;
1214  printProjections(out);
1215 }
1216 
1218 {
1219  for (const auto &component : components_)
1220  component->setup();
1221 
1223 }
1224 
1226 {
1228  for (const auto &component : components_)
1229  component->computeLocations();
1230 }
1231 
1232 namespace ompl
1233 {
1234  namespace base
1235  {
1237  const State *source)
1238  {
1239  return copyStateData(destS.get(), dest, sourceS.get(), source);
1240  }
1241 
1243  const State *source)
1244  {
1245  // if states correspond to the same space, simply do copy
1246  if (destS->getName() == sourceS->getName())
1247  {
1248  if (dest != source)
1249  destS->copyState(dest, source);
1250  return ALL_DATA_COPIED;
1251  }
1252 
1254 
1255  // if "to" state is compound
1256  if (destS->isCompound())
1257  {
1258  const auto *compoundDestS = destS->as<CompoundStateSpace>();
1259  auto *compoundDest = dest->as<CompoundState>();
1260 
1261  // if there is a subspace in "to" that corresponds to "from", set the data and return
1262  for (unsigned int i = 0; i < compoundDestS->getSubspaceCount(); ++i)
1263  if (compoundDestS->getSubspace(i)->getName() == sourceS->getName())
1264  {
1265  if (compoundDest->components[i] != source)
1266  compoundDestS->getSubspace(i)->copyState(compoundDest->components[i], source);
1267  return ALL_DATA_COPIED;
1268  }
1269 
1270  // it could be there are further levels of compound spaces where the data can be set
1271  // so we call this function recursively
1272  for (unsigned int i = 0; i < compoundDestS->getSubspaceCount(); ++i)
1273  {
1274  AdvancedStateCopyOperation res = copyStateData(compoundDestS->getSubspace(i).get(),
1275  compoundDest->components[i], sourceS, source);
1276 
1277  if (res != NO_DATA_COPIED)
1278  result = SOME_DATA_COPIED;
1279 
1280  // if all data was copied, we stop
1281  if (res == ALL_DATA_COPIED)
1282  return ALL_DATA_COPIED;
1283  }
1284  }
1285 
1286  // if we got to this point, it means that the data in "from" could not be copied as a chunk to "to"
1287  // it could be the case "from" is from a compound space as well, so we can copy parts of "from", as needed
1288  if (sourceS->isCompound())
1289  {
1290  const auto *compoundSourceS = sourceS->as<CompoundStateSpace>();
1291  const auto *compoundSource = source->as<CompoundState>();
1292 
1293  unsigned int copiedComponents = 0;
1294 
1295  // if there is a subspace in "to" that corresponds to "from", set the data and return
1296  for (unsigned int i = 0; i < compoundSourceS->getSubspaceCount(); ++i)
1297  {
1298  AdvancedStateCopyOperation res = copyStateData(destS, dest, compoundSourceS->getSubspace(i).get(),
1299  compoundSource->components[i]);
1300  if (res == ALL_DATA_COPIED)
1301  copiedComponents++;
1302  if (res != NO_DATA_COPIED)
1303  result = SOME_DATA_COPIED;
1304  }
1305 
1306  // if each individual component got copied, then the entire data in "from" got copied
1307  if (copiedComponents == compoundSourceS->getSubspaceCount())
1308  result = ALL_DATA_COPIED;
1309  }
1310 
1311  return result;
1312  }
1313 
1315  const State *source, const std::vector<std::string> &subspaces)
1316  {
1317  return copyStateData(destS.get(), dest, sourceS.get(), source, subspaces);
1318  }
1319 
1321  const State *source, const std::vector<std::string> &subspaces)
1322  {
1323  std::size_t copyCount = 0;
1324  const std::map<std::string, StateSpace::SubstateLocation> &destLoc = destS->getSubstateLocationsByName();
1325  const std::map<std::string, StateSpace::SubstateLocation> &sourceLoc =
1326  sourceS->getSubstateLocationsByName();
1327  for (const auto &subspace : subspaces)
1328  {
1329  auto dt = destLoc.find(subspace);
1330  if (dt != destLoc.end())
1331  {
1332  auto st = sourceLoc.find(subspace);
1333  if (st != sourceLoc.end())
1334  {
1335  dt->second.space->copyState(destS->getSubstateAtLocation(dest, dt->second),
1336  sourceS->getSubstateAtLocation(source, st->second));
1337  ++copyCount;
1338  }
1339  }
1340  }
1341  if (copyCount == subspaces.size())
1342  return ALL_DATA_COPIED;
1343  if (copyCount > 0)
1344  return SOME_DATA_COPIED;
1345  return NO_DATA_COPIED;
1346  }
1347 
1349  inline bool StateSpaceHasContent(const StateSpacePtr &m)
1350  {
1351  if (!m)
1352  return false;
1353  if (m->getDimension() == 0 && m->getType() == STATE_SPACE_UNKNOWN && m->isCompound())
1354  {
1355  const unsigned int nc = m->as<CompoundStateSpace>()->getSubspaceCount();
1356  for (unsigned int i = 0; i < nc; ++i)
1357  if (StateSpaceHasContent(m->as<CompoundStateSpace>()->getSubspace(i)))
1358  return true;
1359  return false;
1360  }
1361  return true;
1362  }
1364 
1366  {
1367  if (!StateSpaceHasContent(a) && StateSpaceHasContent(b))
1368  return b;
1369 
1370  if (!StateSpaceHasContent(b) && StateSpaceHasContent(a))
1371  return a;
1372 
1373  std::vector<StateSpacePtr> components;
1374  std::vector<double> weights;
1375 
1376  bool change = false;
1377  if (a)
1378  {
1379  bool used = false;
1380  if (auto *csm_a = dynamic_cast<CompoundStateSpace *>(a.get()))
1381  if (!csm_a->isLocked())
1382  {
1383  used = true;
1384  for (unsigned int i = 0; i < csm_a->getSubspaceCount(); ++i)
1385  {
1386  components.push_back(csm_a->getSubspace(i));
1387  weights.push_back(csm_a->getSubspaceWeight(i));
1388  }
1389  }
1390 
1391  if (!used)
1392  {
1393  components.push_back(a);
1394  weights.push_back(1.0);
1395  }
1396  }
1397  if (b)
1398  {
1399  bool used = false;
1400  unsigned int size = components.size();
1401 
1402  if (auto *csm_b = dynamic_cast<CompoundStateSpace *>(b.get()))
1403  if (!csm_b->isLocked())
1404  {
1405  used = true;
1406  for (unsigned int i = 0; i < csm_b->getSubspaceCount(); ++i)
1407  {
1408  bool ok = true;
1409  for (unsigned int j = 0; j < size; ++j)
1410  if (components[j]->getName() == csm_b->getSubspace(i)->getName())
1411  {
1412  ok = false;
1413  break;
1414  }
1415  if (ok)
1416  {
1417  components.push_back(csm_b->getSubspace(i));
1418  weights.push_back(csm_b->getSubspaceWeight(i));
1419  change = true;
1420  }
1421  }
1422  if (components.size() == csm_b->getSubspaceCount())
1423  return b;
1424  }
1425 
1426  if (!used)
1427  {
1428  bool ok = true;
1429  for (unsigned int j = 0; j < size; ++j)
1430  if (components[j]->getName() == b->getName())
1431  {
1432  ok = false;
1433  break;
1434  }
1435  if (ok)
1436  {
1437  components.push_back(b);
1438  weights.push_back(1.0);
1439  change = true;
1440  }
1441  }
1442  }
1443 
1444  if (!change && a)
1445  return a;
1446 
1447  if (components.size() == 1)
1448  return components[0];
1449 
1450  return std::make_shared<CompoundStateSpace>(components, weights);
1451  }
1452 
1454  {
1455  std::vector<StateSpacePtr> components_a;
1456  std::vector<double> weights_a;
1457  std::vector<StateSpacePtr> components_b;
1458 
1459  if (a)
1460  {
1461  bool used = false;
1462  if (auto *csm_a = dynamic_cast<CompoundStateSpace *>(a.get()))
1463  if (!csm_a->isLocked())
1464  {
1465  used = true;
1466  for (unsigned int i = 0; i < csm_a->getSubspaceCount(); ++i)
1467  {
1468  components_a.push_back(csm_a->getSubspace(i));
1469  weights_a.push_back(csm_a->getSubspaceWeight(i));
1470  }
1471  }
1472 
1473  if (!used)
1474  {
1475  components_a.push_back(a);
1476  weights_a.push_back(1.0);
1477  }
1478  }
1479 
1480  if (b)
1481  {
1482  bool used = false;
1483  if (auto *csm_b = dynamic_cast<CompoundStateSpace *>(b.get()))
1484  if (!csm_b->isLocked())
1485  {
1486  used = true;
1487  for (unsigned int i = 0; i < csm_b->getSubspaceCount(); ++i)
1488  components_b.push_back(csm_b->getSubspace(i));
1489  }
1490  if (!used)
1491  components_b.push_back(b);
1492  }
1493 
1494  bool change = false;
1495  for (auto &i : components_b)
1496  for (unsigned int j = 0; j < components_a.size(); ++j)
1497  if (components_a[j]->getName() == i->getName())
1498  {
1499  components_a.erase(components_a.begin() + j);
1500  weights_a.erase(weights_a.begin() + j);
1501  change = true;
1502  break;
1503  }
1504 
1505  if (!change && a)
1506  return a;
1507 
1508  if (components_a.size() == 1)
1509  return components_a[0];
1510 
1511  return std::make_shared<CompoundStateSpace>(components_a, weights_a);
1512  }
1513 
1514  StateSpacePtr operator-(const StateSpacePtr &a, const std::string &name)
1515  {
1516  std::vector<StateSpacePtr> components;
1517  std::vector<double> weights;
1518 
1519  bool change = false;
1520  if (a)
1521  {
1522  bool used = false;
1523  if (auto *csm_a = dynamic_cast<CompoundStateSpace *>(a.get()))
1524  if (!csm_a->isLocked())
1525  {
1526  used = true;
1527  for (unsigned int i = 0; i < csm_a->getSubspaceCount(); ++i)
1528  {
1529  if (csm_a->getSubspace(i)->getName() == name)
1530  {
1531  change = true;
1532  continue;
1533  }
1534  components.push_back(csm_a->getSubspace(i));
1535  weights.push_back(csm_a->getSubspaceWeight(i));
1536  }
1537  }
1538 
1539  if (!used)
1540  {
1541  if (a->getName() != name)
1542  {
1543  components.push_back(a);
1544  weights.push_back(1.0);
1545  }
1546  else
1547  change = true;
1548  }
1549  }
1550 
1551  if (!change && a)
1552  return a;
1553 
1554  if (components.size() == 1)
1555  return components[0];
1556 
1557  return std::make_shared<CompoundStateSpace>(components, weights);
1558  }
1559 
1561  {
1562  std::vector<StateSpacePtr> components_a;
1563  std::vector<double> weights_a;
1564  std::vector<StateSpacePtr> components_b;
1565  std::vector<double> weights_b;
1566 
1567  if (a)
1568  {
1569  bool used = false;
1570  if (auto *csm_a = dynamic_cast<CompoundStateSpace *>(a.get()))
1571  if (!csm_a->isLocked())
1572  {
1573  used = true;
1574  for (unsigned int i = 0; i < csm_a->getSubspaceCount(); ++i)
1575  {
1576  components_a.push_back(csm_a->getSubspace(i));
1577  weights_a.push_back(csm_a->getSubspaceWeight(i));
1578  }
1579  }
1580 
1581  if (!used)
1582  {
1583  components_a.push_back(a);
1584  weights_a.push_back(1.0);
1585  }
1586  }
1587 
1588  if (b)
1589  {
1590  bool used = false;
1591  if (auto *csm_b = dynamic_cast<CompoundStateSpace *>(b.get()))
1592  if (!csm_b->isLocked())
1593  {
1594  used = true;
1595  for (unsigned int i = 0; i < csm_b->getSubspaceCount(); ++i)
1596  {
1597  components_b.push_back(csm_b->getSubspace(i));
1598  weights_b.push_back(csm_b->getSubspaceWeight(i));
1599  }
1600  }
1601 
1602  if (!used)
1603  {
1604  components_b.push_back(b);
1605  weights_b.push_back(1.0);
1606  }
1607  }
1608 
1609  std::vector<StateSpacePtr> components;
1610  std::vector<double> weights;
1611 
1612  for (unsigned int i = 0; i < components_b.size(); ++i)
1613  {
1614  for (unsigned int j = 0; j < components_a.size(); ++j)
1615  if (components_a[j]->getName() == components_b[i]->getName())
1616  {
1617  components.push_back(components_b[i]);
1618  weights.push_back(std::max(weights_a[j], weights_b[i]));
1619  break;
1620  }
1621  }
1622 
1623  if (a && components.size() == components_a.size())
1624  return a;
1625 
1626  if (b && components.size() == components_b.size())
1627  return b;
1628 
1629  if (components.size() == 1)
1630  return components[0];
1631 
1632  return std::make_shared<CompoundStateSpace>(components, weights);
1633  }
1634  }
1635 }
ProjectionEvaluatorPtr getDefaultProjection() const
Get the default projection.
Definition: StateSpace.cpp:723
Definition of a compound state.
Definition: State.h:87
const std::map< std::string, ProjectionEvaluatorPtr > & getRegisteredProjections() const
Get all the registered projections.
Definition: StateSpace.cpp:747
double maxExtent_
The extent of this space at the time setup() was called.
Definition: StateSpace.h:537
ParamSet params_
The set of parameters for this space.
Definition: StateSpace.h:553
void getCommonSubspaces(const StateSpacePtr &other, std::vector< std::string > &subspaces) const
Get the set of subspaces that this space and other have in common. The computed list of subspaces doe...
Definition: StateSpace.cpp:493
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
void clearStateSamplerAllocator()
Clear the state sampler allocator (reset to default)
Definition: StateSpace.cpp:795
State * cloneState(const State *source) const
Clone a state.
Definition: StateSpace.cpp:226
static const unsigned int TEST_STATE_COUNT
When multiple states need to be generated as part of the computation of various information (usually ...
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
Definition: StateSpace.cpp:375
double longestValidSegment_
The longest valid segment at the time setup() was called.
Definition: StateSpace.h:543
virtual double getLongestValidSegmentFraction() const
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:841
A space to allow the composition of state spaces.
Definition: StateSpace.h:574
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
AdvancedStateCopyOperation copyStateData(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS, const State *source)
Copy data from source (state from space sourceS) to dest (state from space destS) on a component by c...
virtual void setValidSegmentCountFactor(unsigned int factor)
Set factor to be the value to multiply the return value of validSegmentCount(). By default,...
Definition: StateSpace.cpp:820
std::vector< std::size_t > chain
In a complex state space there may be multiple compound state spaces that make up an even larger comp...
Definition: StateSpace.h:114
void registerProjection(const std::string &name, const ProjectionEvaluatorPtr &projection)
Register a projection for this state space under a specified name.
Definition: StateSpace.cpp:757
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition of an abstract state.
Definition: State.h:50
State * getSubstateAtLocation(State *state, const SubstateLocation &loc) const
Get the substate of state that is pointed to by loc.
Definition: StateSpace.cpp:289
Representation of the address of a value in a state. This structure stores the indexing information n...
Definition: StateSpace.h:123
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
Definition: StateSpace.cpp:384
SubstateLocation stateLocation
Location of the substate that contains the pointed to value.
Definition: StateSpace.h:125
const StateSpacePtr & getSubspace(unsigned int index) const
Get a specific subspace from the compound state space.
Definition: StateSpace.cpp:909
void computeLocations() override
Compute the location information for various components of the state space. Either this function or s...
virtual void sanityChecks() const
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition: StateSpace.cpp:603
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
virtual unsigned int getValidSegmentCountFactor() const
Get the value used to multiply the return value of validSegmentCount().
Definition: StateSpace.cpp:836
@ STATE_SPACE_REAL_VECTOR
ompl::base::RealVectorStateSpace
virtual StateSamplerPtr allocStateSampler() const
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
Definition: StateSpace.cpp:800
@ STATE_SPACE_UNKNOWN
Unset type; this is the default type.
const std::vector< ValueLocation > & getValueLocations() const
Get the locations of values of type double contained in a state from this space. The order of the val...
Definition: StateSpace.cpp:318
unsigned int getSubspaceCount() const
Get the number of state spaces that make up the compound state space.
Definition: StateSpace.cpp:904
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition: StateSpace.cpp:988
bool isCompound() const override
Check if the state space is compound.
Definition: StateSpace.cpp:883
const std::vector< double > & getSubspaceWeights() const
Get the list of component weights.
Definition: StateSpace.cpp:983
StateSpace()
Constructor. Assigns a unique name to the space.
Definition: StateSpace.cpp:84
virtual void copyState(State *destination, const State *source) const =0
Copy a state to another. The memory of source and destination should NOT overlap.
double getSubspaceWeight(unsigned int index) const
Get the weight of a subspace from the compound state space (used in distance computation)
Definition: StateSpace.cpp:938
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
virtual bool isHybrid() const
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition: StateSpace.cpp:775
virtual void copyToReals(std::vector< double > &reals, const State *source) const
Copy all the real values from a state source to the array reals using getValueAddressAtLocation()
Definition: StateSpace.cpp:329
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
double * getValueAddressAtName(State *state, const std::string &name) const
Get a pointer to the double value in state that name points to.
Definition: StateSpace.cpp:361
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
bool isLocked() const
Return true if the state space is locked. A value of true means that no further spaces can be added a...
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
virtual double getLongestValidSegmentLength() const
Get the longest valid segment at the time setup() was called.
Definition: StateSpace.cpp:846
void setSubspaceWeight(unsigned int index, double weight)
Set the weight of a subspace in the compound state space (used in distance computation)
Definition: StateSpace.cpp:954
double longestValidSegmentFraction_
The fraction of the longest valid segment.
Definition: StateSpace.h:540
StateSamplerPtr allocSubspaceStateSampler(const StateSpacePtr &subspace) const
Allocate a sampler that actually samples only components that are part of subspace.
Definition: StateSpace.cpp:808
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
static const std::string DEFAULT_PROJECTION_NAME
The name used for the default projection.
Definition: StateSpace.h:528
void freeState(State *state) const override
Free the memory of the allocated state.
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition: StateSpace.cpp:752
virtual void copyFromReals(State *destination, const std::vector< double > &reals) const
Copy the values from reals to the state destination using getValueAddressAtLocation()
Definition: StateSpace.cpp:337
virtual bool isDiscrete() const
Check if the set of states is discrete.
Definition: StateSpace.cpp:770
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection....
Definition: StateSpace.cpp:233
StateSpacePtr operator-(const StateSpacePtr &a, const StateSpacePtr &b)
Construct a compound state space that contains subspaces only from a. If a is compound,...
StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const override
Allocate a sampler that actually samples only components that are part of subspace.
Representation of the address of a substate in a state. This structure stores the indexing informatio...
Definition: StateSpace.h:108
bool hasProjection(const std::string &name) const
Check if a projection with a specified name is available.
Definition: StateSpace.cpp:718
const std::map< std::string, SubstateLocation > & getSubstateLocationsByName() const
Get the list of known substate locations (keys of the map corrspond to names of subspaces)
Definition: StateSpace.cpp:284
virtual void setLongestValidSegmentFraction(double segmentFraction)
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:828
State * allocState() const override
Allocate a state that can store a point in the described space.
@ NO_DATA_COPIED
No data was copied.
Definition: StateSpace.h:789
const std::map< std::string, ValueLocation > & getValueLocationsByName() const
Get the named locations of values of type double contained in a state from this space....
Definition: StateSpace.cpp:324
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: StateSpace.cpp:996
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
Definition: StateSpace.cpp:393
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
unsigned int validSegmentCount(const State *state1, const State *state2) const override
Count how many segments of the "longest valid length" fit on the motion from state1 to state2....
virtual void computeLocations()
Compute the location information for various components of the state space. Either this function or s...
Definition: StateSpace.cpp:214
bool hasSubspace(const std::string &name) const
Check if a specific subspace is contained in this state space.
Definition: StateSpace.cpp:917
bool hasDefaultProjection() const
Check if a default projection is available.
Definition: StateSpace.cpp:713
bool includes(const StateSpacePtr &other) const
Return true if other is a space included (perhaps equal, perhaps a subspace) in this one.
Definition: StateSpace.cpp:478
AdvancedStateCopyOperation
The possible outputs for an advanced copy operation.
Definition: StateSpace.h:787
virtual void computeSignature(std::vector< int > &signature) const
Compute an array of ints that uniquely identifies the structure of the state space....
Definition: StateSpace.cpp:219
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
std::function< StateSamplerPtr(const StateSpace *)> StateSamplerAllocator
Definition of a function that can allocate a state sampler.
Definition: StateSampler.h:191
double * getValueAddressAtLocation(State *state, const ValueLocation &loc) const
Get a pointer to the double value in state that loc points to.
Definition: StateSpace.cpp:345
State ** components
The components that make up a compound state.
Definition: State.h:128
virtual bool isCompound() const
Check if the state space is compound.
Definition: StateSpace.cpp:765
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces.
std::size_t index
The index of the value to be accessed, within the substate location above.
Definition: StateSpace.h:128
T * as()
Cast this instance to a desired type.
Definition: StateSpace.h:87
unsigned int longestValidSegmentCountFactor_
The factor to multiply the value returned by validSegmentCount(). Rarely used but useful for things l...
Definition: StateSpace.h:547
const StateSpace * space
The space that is reached if the chain above is followed on the state space.
Definition: StateSpace.h:117
void diagram(std::ostream &out) const
Print a Graphviz digraph that represents the containment diagram for the state space.
Definition: StateSpace.cpp:553
void setLongestValidSegmentFraction(double segmentFraction) override
When performing discrete validation of motions, the length of the longest segment that does not requi...
@ ALL_DATA_COPIED
All data was copied.
Definition: StateSpace.h:795
OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a, const OptimizationObjectivePtr &b)
Given two optimization objectives, returns a MultiOptimizationObjective that combines the two objecti...
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=[] { return T();})
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:231
virtual double * getValueAddressAtIndex(State *state, unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: StateSpace.cpp:306
virtual double getMeasure() const =0
Get a measure of the space (this can be thought of as a generalization of volume)
A shared pointer wrapper for ompl::base::StateSpace.
const std::vector< StateSpacePtr > & getSubspaces() const
Get the list of components.
Definition: StateSpace.cpp:978
bool covers(const StateSpacePtr &other) const
Return true if other is a space that is either included (perhaps equal, perhaps a subspace) in this o...
Definition: StateSpace.cpp:473
void setStateSamplerAllocator(const StateSamplerAllocator &ssa)
Set the sampler allocator to use.
Definition: StateSpace.cpp:790
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
virtual bool hasSymmetricDistance() const
Check if the distance function on this state space is symmetric, i.e. distance(s1,...
Definition: StateSpace.cpp:780
A shared pointer wrapper for ompl::base::StateSampler.
virtual void printProjections(std::ostream &out) const
Print the list of registered projections. This function is also called by printSettings()
Definition: StateSpace.cpp:399
void list(std::ostream &out) const
Print the list of all contained state space instances.
Definition: StateSpace.cpp:535
static void Diagram(std::ostream &out)
Print a Graphviz digraph that represents the containment diagram for all the instantiated state space...
Definition: StateSpace.cpp:580
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
Definition: StateSpace.cpp:871
static void List(std::ostream &out)
Print the list of available state space instances.
Definition: StateSpace.cpp:527
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: StateSpace.cpp:237
CompoundStateSpace()
Construct an empty compound state space.
Definition: StateSpace.cpp:856
ProjectionEvaluatorPtr getProjection(const std::string &name) const
Get the projection registered under a specific name.
Definition: StateSpace.cpp:734
The exception type for ompl.
Definition: Exception.h:47
bool isHybrid() const override
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition: StateSpace.cpp:888
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
@ SOME_DATA_COPIED
Some data was copied.
Definition: StateSpace.h:792
virtual bool hasSymmetricInterpolate() const
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...
Definition: StateSpace.cpp:785
unsigned int getSubspaceIndex(const std::string &name) const
Get the index of a specific subspace from the compound state space.
Definition: StateSpace.cpp:925
std::string toString(float val)
convert float to string using classic "C" locale semantics
Definition: String.cpp:82
virtual unsigned int validSegmentCount(const State *state1, const State *state2) const
Count how many segments of the "longest valid length" fit on the motion from state1 to state2.
Definition: StateSpace.cpp:851
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
Definition: StateSpace.cpp:380
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
virtual void printState(const State *state, std::ostream &out=std::cout) const
Print a state to a stream.
Definition: StateSpace.cpp:388
OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a)
Given a weighing factor and an optimization objective, returns a MultiOptimizationObjective containin...