TimeStateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_TIME_STATE_SPACE_
38 #define OMPL_BASE_SPACES_TIME_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
48  {
49  public:
51  TimeStateSampler(const StateSpace *space) : StateSampler(space)
52  {
53  }
54 
55  void sampleUniform(State *state) override;
56  void sampleUniformNear(State *state, const State *near, const double distance) override;
57  void sampleGaussian(State *state, const State *mean, const double stdDev) override;
58  };
59 
69  class TimeStateSpace : public StateSpace
70  {
71  public:
73  class StateType : public State
74  {
75  public:
77  double position;
78  };
79 
80  TimeStateSpace() : StateSpace(), bounded_(false), minTime_(0.0), maxTime_(0.0)
81  {
82  setName("Time" + getName());
83  type_ = STATE_SPACE_TIME;
84  }
85 
86  ~TimeStateSpace() override = default;
87 
88  unsigned int getDimension() const override;
89 
90  double getMaximumExtent() const override;
91 
92  double getMeasure() const override;
93 
100  void setBounds(double minTime, double maxTime);
101 
104  double getMinTimeBound() const
105  {
106  return minTime_;
107  }
108 
111  double getMaxTimeBound() const
112  {
113  return maxTime_;
114  }
115 
117  bool isBounded() const
118  {
119  return bounded_;
120  }
121 
122  void enforceBounds(State *state) const override;
123 
124  bool satisfiesBounds(const State *state) const override;
125 
126  void copyState(State *destination, const State *source) const override;
127 
128  unsigned int getSerializationLength() const override;
129 
130  void serialize(void *serialization, const State *state) const override;
131 
132  void deserialize(State *state, const void *serialization) const override;
133 
134  double distance(const State *state1, const State *state2) const override;
135 
136  bool equalStates(const State *state1, const State *state2) const override;
137 
138  void interpolate(const State *from, const State *to, const double t, State *state) const override;
139 
140  StateSamplerPtr allocDefaultStateSampler() const override;
141 
142  State *allocState() const override;
143 
144  void freeState(State *state) const override;
145 
146  double *getValueAddressAtIndex(State *state, const unsigned int index) const override;
147 
148  void printState(const State *state, std::ostream &out) const override;
149 
150  void printSettings(std::ostream &out) const override;
151 
152  void registerProjections() override;
153 
154  protected:
156  bool bounded_;
157 
159  double minTime_;
160 
162  double maxTime_;
163  };
164  }
165 }
166 
167 #endif
void sampleUniformNear(State *state, const State *near, const double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
A shared pointer wrapper for ompl::base::StateSampler.
double maxTime_
The maximum point in time considered by the state space (if bounds are used)
double minTime_
The minimum point in time considered by the state space (if bounds are used)
The definition of a time state.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void sampleUniform(State *state) override
Sample a state.
bool isBounded() const
Check if the time is bounded or not.
double getMaxTimeBound() const
Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded...
State space sampler for time.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
Definition of an abstract state.
Definition: State.h:49
void sampleGaussian(State *state, const State *mean, const double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...
Abstract definition of a state space sampler.
Definition: StateSampler.h:64
TimeStateSampler(const StateSpace *space)
Constructor.
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...
double getMinTimeBound() const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...
ompl::base::TimeStateSpace
double position
The position in time.
bool bounded_
Flag indicating whether the state space is considering bounds or not.