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, double distance) override;
57  void sampleGaussian(State *state, const State *mean, 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 
81  {
82  setName("Time" + getName());
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, 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, 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_{false};
157 
159  double minTime_{0.0};
160 
162  double maxTime_{0.0};
163  };
164  }
165 }
166 
167 #endif
A shared pointer wrapper for ompl::base::StateSampler.
Abstract definition of a state space sampler.
Definition: StateSampler.h:65
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
Definition of an abstract state.
Definition: State.h:50
State space sampler for time.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
void sampleUniform(State *state) override
Sample a state.
TimeStateSampler(const StateSpace *space)
Constructor.
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
The definition of a time state.
double position
The position in time.
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op,...
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
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...
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
bool isBounded() const
Check if the time is bounded or not.
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
bool bounded_
Flag indicating whether the state space is considering bounds or not.
double maxTime_
The maximum point in time considered by the state space (if bounds are used)
double getMaxTimeBound() const
Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded.
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
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....
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
double minTime_
The minimum point in time considered by the state space (if bounds are used)
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
void freeState(State *state) const override
Free the memory of the allocated state.
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...
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
State * allocState() const override
Allocate a state that can store a point in the described space.
double getMinTimeBound() const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded.
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
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...
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-...
@ STATE_SPACE_TIME
ompl::base::TimeStateSpace
Main namespace. Contains everything in this library.
Definition: AppBase.h:22