ProjectedStateSpace.h
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34 
35 /* Author: Zachary Kingston */
36 
37 #ifndef OMPL_BASE_SPACES_PROJECTED_STATE_SPACE_
38 #define OMPL_BASE_SPACES_PROJECTED_STATE_SPACE_
39 
40 #include "ompl/base/MotionValidator.h"
41 #include "ompl/base/PlannerData.h"
42 #include "ompl/base/StateSampler.h"
43 #include "ompl/base/ValidStateSampler.h"
44 #include "ompl/base/Constraint.h"
45 #include "ompl/base/spaces/RealVectorStateSpace.h"
46 #include "ompl/base/spaces/constraint/ConstrainedStateSpace.h"
47 
48 namespace ompl
49 {
50  namespace base
51  {
53 
54  OMPL_CLASS_FORWARD(ProjectedStateSpace);
56 
58  class ProjectedStateSampler : public WrapperStateSampler
59  {
60  public:
62  ProjectedStateSampler(const ProjectedStateSpace *space, StateSamplerPtr sampler);
63 
66  void sampleUniform(State *state) override;
67 
71  void sampleUniformNear(State *state, const State *near, double distance) override;
72 
76  void sampleGaussian(State *state, const State *mean, double stdDev) override;
77 
78  protected:
81  };
82 
102  class ProjectedStateSpace : public ConstrainedStateSpace
103  {
104  public:
106  ProjectedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
107  : ConstrainedStateSpace(ambientSpace, constraint)
108  {
109  setName("Projected" + space_->getName());
110  }
111 
113  ~ProjectedStateSpace() override = default;
114 
117  {
118  return std::make_shared<ProjectedStateSampler>(this, space_->allocDefaultStateSampler());
119  }
120 
123  {
124  return std::make_shared<ProjectedStateSampler>(this, space_->allocStateSampler());
125  }
126 
135  bool discreteGeodesic(const State *from, const State *to, bool interpolate = false,
136  std::vector<State *> *geodesic = nullptr) const override;
137  };
138  }
139 }
140 
141 #endif
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(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
Construct a constrained space from an ambientSpace and a constraint.
Definition of an abstract state.
Definition: State.h:113
void sampleUniform(State *state) override
Sample a state uniformly in ambient space and project to the manifold. Return sample in state.
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...
~ProjectedStateSpace() override=default
Destructor.
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state uniformly from the ball with center near and radius distance in ambient space and proj...
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state uniformly from a normal distribution with given mean and stdDev in ambient space and p...
const ConstraintPtr constraint_
Constraint.
ProjectedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
Construct an atlas with the specified dimensions.
A shared pointer wrapper for ompl::base::StateSpace.
StateSamplerPtr allocStateSampler() const override
Allocate the previously set state sampler for this space.
ProjectedStateSampler(const ProjectedStateSpace *space, StateSamplerPtr sampler)
Constructor.
A shared pointer wrapper for ompl::base::StateSampler.
Main namespace. Contains everything in this library.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate the default state sampler for this space.