WrapperStateSpace.cpp
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34 
35 /* Author: Zachary Kingston */
36 
37 #include "ompl/base/spaces/WrapperStateSpace.h"
38 
40 {
41  sampler_->sampleUniform(state->as<ompl::base::WrapperStateSpace::StateType>()->getState());
42 }
43 
44 void ompl::base::WrapperStateSampler::sampleUniformNear(State *state, const State *near, double distance)
45 {
46  sampler_->sampleUniformNear(state->as<ompl::base::WrapperStateSpace::StateType>()->getState(),
47  near->as<ompl::base::WrapperStateSpace::StateType>()->getState(), distance);
48 }
49 
50 void ompl::base::WrapperStateSampler::sampleGaussian(State *state, const State *mean, double stdDev)
51 {
52  sampler_->sampleGaussian(state->as<ompl::base::WrapperStateSpace::StateType>()->getState(),
53  mean->as<ompl::base::WrapperStateSpace::StateType>()->getState(), stdDev);
54 }
55 
56 ompl::base::WrapperProjectionEvaluator::WrapperProjectionEvaluator(const ompl::base::WrapperStateSpace *space)
57  : ompl::base::ProjectionEvaluator(space), projection_(space->getSpace()->getDefaultProjection())
58 {
59 }
60 
62 {
63  cellSizes_ = projection_->getCellSizes();
65 }
66 
68 {
69  return projection_->getDimension();
70 }
71 
72 void ompl::base::WrapperProjectionEvaluator::project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const
73 {
74  projection_->project(state->as<ompl::base::WrapperStateSpace::StateType>()->getState(), projection);
75 }
76 
78 {
79  space_->setup();
80  maxExtent_ = space_->getMaximumExtent();
81  longestValidSegmentFraction_ = space_->getLongestValidSegmentFraction();
82  longestValidSegmentCountFactor_ = space_->getValidSegmentCountFactor();
83  longestValidSegment_ = space_->getLongestValidSegmentLength();
84  projections_ = space_->getRegisteredProjections();
85  params_ = space_->params();
86 
87  valueLocationsInOrder_ = space_->getValueLocations();
88  valueLocationsByName_ = space_->getValueLocationsByName();
89  substateLocationsByName_ = space_->getSubstateLocationsByName();
90 
91  registerDefaultProjection(std::make_shared<WrapperProjectionEvaluator>(this));
92 }
void sampleUniform(State *state) override
Sample a state using underlying sampler.
const State * getState() const
Get a const pointer to the underlying state.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
State space wrapper that transparently passes state space operations through to the underlying space...
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state within a Gaussian distribution using underlying sampler.
void setup() override
Perform configuration steps, if needed.
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
Definition of an abstract state.
Definition: State.h:49
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a nearby state using underlying sampler.
Wrapper state type. Contains a reference to an underlying state.
StateSamplerPtr sampler_
Underlying state sampler.
virtual void setup()
Perform configuration steps, if needed.
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
void project(const State *state, Eigen::Ref< Eigen::VectorXd > projection) const override
Compute the projection as an array of double values.