TangentBundleStateSpace.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2014, 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: Zachary Kingston */
36 
37 #ifndef OMPL_BASE_SPACES_TANGENTBUNDLE_STATE_SPACE_
38 #define OMPL_BASE_SPACES_TANGENTBUNDLE_STATE_SPACE_
39 
40 #include "ompl/base/spaces/constraint/AtlasStateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
47 
48  OMPL_CLASS_FORWARD(TangentBundleStateSpace);
50 
81  {
82  public:
83  TangentBundleStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint);
84 
87  void sanityChecks() const override;
88 
97  bool discreteGeodesic(const State *from, const State *to, bool interpolate = false,
98  std::vector<State *> *geodesic = nullptr) const override;
99 
108  State *geodesicInterpolate(const std::vector<State *> &geodesic, double t) const override;
109 
112  bool project(State *state) const;
113  };
114  }
115 }
116 
117 #endif
ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...
State * geodesicInterpolate(const std::vector< State *> &geodesic, double t) const override
Like interpolate(...), but interpolates between intermediate states already supplied in stateList fro...
A shared pointer wrapper for ompl::base::StateSpace.
bool project(State *state) const
Reproject a state onto the surface of the manifold. Returns true if projection was successful...
A shared pointer wrapper for ompl::base::Constraint.
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...
ConstrainedStateSpace encapsulating a planner-agnostic lazy atlas algorithm for planning on a constra...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void sanityChecks() const override
Do sanity checks, minus geodesic constraint satisfiability (as this is a lazy method).
Definition of an abstract state.
Definition: State.h:49
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...