StateSpace.h
162 };
584 CompoundStateSpace(const std::vector<StateSpacePtr> &components, const std::vector<double> &weights);
796 };
805 AdvancedStateCopyOperation copyStateData(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS,
815 AdvancedStateCopyOperation copyStateData(const StateSpace *destS, State *dest, const StateSpace *sourceS,
824 AdvancedStateCopyOperation copyStateData(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS,
833 AdvancedStateCopyOperation copyStateData(const StateSpace *destS, State *dest, const StateSpace *sourceS,
A space to allow the composition of state spaces.
Definition: StateSpace.h:574
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: StateSpace.cpp:1118
unsigned int validSegmentCount(const State *state1, const State *state2) const override
Count how many segments of the "longest valid length" fit on the motion from state1 to state2....
Definition: StateSpace.cpp:1085
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition: StateSpace.cpp:988
void setSubspaceWeight(unsigned int index, double weight)
Set the weight of a subspace in the compound state space (used in distance computation)
Definition: StateSpace.cpp:954
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition: StateSpace.cpp:1005
bool isLocked() const
Return true if the state space is locked. A value of true means that no further spaces can be added a...
Definition: StateSpace.cpp:1168
const StateSpacePtr & getSubspace(unsigned int index) const
Get a specific subspace from the compound state space.
Definition: StateSpace.cpp:909
unsigned int getSubspaceCount() const
Get the number of state spaces that make up the compound state space.
Definition: StateSpace.cpp:904
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces.
Definition: StateSpace.cpp:1147
bool locked_
Flag indicating whether adding further components is allowed or not.
Definition: StateSpace.h:747
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition: StateSpace.cpp:1038
double getSubspaceWeight(unsigned int index) const
Get the weight of a subspace from the compound state space (used in distance computation)
Definition: StateSpace.cpp:938
unsigned int getSubspaceIndex(const std::string &name) const
Get the index of a specific subspace from the compound state space.
Definition: StateSpace.cpp:925
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: StateSpace.cpp:1099
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition: StateSpace.cpp:1195
bool isHybrid() const override
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition: StateSpace.cpp:888
void computeLocations() override
Compute the location information for various components of the state space. Either this function or s...
Definition: StateSpace.cpp:1225
const std::vector< double > & getSubspaceWeights() const
Get the list of component weights.
Definition: StateSpace.cpp:983
void setLongestValidSegmentFraction(double segmentFraction) override
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:1078
StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const override
Allocate a sampler that actually samples only components that are part of subspace.
Definition: StateSpace.cpp:1130
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: StateSpace.cpp:1217
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
Definition: StateSpace.cpp:871
T * as(const std::string &name) const
Cast a component of this instance to a desired type.
Definition: StateSpace.h:600
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...
Definition: StateSpace.cpp:1068
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition: StateSpace.cpp:1046
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...
Definition: StateSpace.cpp:1173
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...
Definition: StateSpace.cpp:1021
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
Definition: StateSpace.cpp:1163
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....
Definition: StateSpace.cpp:1109
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition: StateSpace.cpp:1057
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: StateSpace.cpp:1140
void freeState(State *state) const override
Free the memory of the allocated state.
Definition: StateSpace.cpp:1154
const std::vector< StateSpacePtr > & getSubspaces() const
Get the list of components.
Definition: StateSpace.cpp:978
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: StateSpace.cpp:996
std::vector< double > weights_
The weight assigned to each component of the state space when computing the compound distance.
Definition: StateSpace.h:741
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Definition: StateSpace.cpp:1030
std::vector< StateSpacePtr > components_
The state spaces that make up the compound state space.
Definition: StateSpace.h:735
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition: StateSpace.cpp:1204
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-...
Definition: StateSpace.cpp:1014
bool hasSubspace(const std::string &name) const
Check if a specific subspace is contained in this state space.
Definition: StateSpace.cpp:917
T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition: StateSpace.h:590
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
virtual bool satisfiesBounds(const State *state) const =0
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
virtual bool hasSymmetricInterpolate() const
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...
Definition: StateSpace.cpp:785
virtual bool hasSymmetricDistance() const
Check if the distance function on this state space is symmetric, i.e. distance(s1,...
Definition: StateSpace.cpp:780
virtual void computeLocations()
Compute the location information for various components of the state space. Either this function or s...
Definition: StateSpace.cpp:214
virtual void printState(const State *state, std::ostream &out=std::cout) const
Print a state to a stream.
Definition: StateSpace.cpp:388
std::map< std::string, SubstateLocation > substateLocationsByName_
All the known substat locations, by name.
Definition: StateSpace.h:565
virtual double getLongestValidSegmentFraction() const
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:841
ProjectionEvaluatorPtr getDefaultProjection() const
Get the default projection.
Definition: StateSpace.cpp:723
void registerProjection(const std::string &name, const ProjectionEvaluatorPtr &projection)
Register a projection for this state space under a specified name.
Definition: StateSpace.cpp:757
int getType() const
Get the type of the state space. The type can be used to verify whether two space instances are of th...
Definition: StateSpace.h:205
virtual void printProjections(std::ostream &out) const
Print the list of registered projections. This function is also called by printSettings()
Definition: StateSpace.cpp:399
virtual double * getValueAddressAtIndex(State *state, unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: StateSpace.cpp:306
virtual void computeSignature(std::vector< int > &signature) const
Compute an array of ints that uniquely identifies the structure of the state space....
Definition: StateSpace.cpp:219
virtual unsigned int validSegmentCount(const State *state1, const State *state2) const
Count how many segments of the "longest valid length" fit on the motion from state1 to state2.
Definition: StateSpace.cpp:851
static const std::string DEFAULT_PROJECTION_NAME
The name used for the default projection.
Definition: StateSpace.h:528
double * getValueAddressAtName(State *state, const std::string &name) const
Get a pointer to the double value in state that name points to.
Definition: StateSpace.cpp:361
virtual double getMeasure() const =0
Get a measure of the space (this can be thought of as a generalization of volume)
virtual double getLongestValidSegmentLength() const
Get the longest valid segment at the time setup() was called.
Definition: StateSpace.cpp:846
void list(std::ostream &out) const
Print the list of all contained state space instances.
Definition: StateSpace.cpp:535
SanityChecks
Flags to use in a bit mask for state space sanity checks. Some basic checks do not have flags associa...
Definition: StateSpace.h:135
@ STATESPACE_DISTANCE_BOUND
Check whether the StateSpace::distance() is bounded by StateSpace::getExtent()
Definition: StateSpace.h:152
@ STATESPACE_DISTANCE_DIFFERENT_STATES
Check whether the distances between non-equal states is strictly positive (StateSpace::distance())
Definition: StateSpace.h:139
@ STATESPACE_INTERPOLATION
Check whether calling StateSpace::interpolate() works as expected.
Definition: StateSpace.h:145
@ STATESPACE_RESPECT_BOUNDS
Check whether sampled states are always within bounds.
Definition: StateSpace.h:155
@ STATESPACE_TRIANGLE_INEQUALITY
Check whether the triangle inequality holds when using StateSpace::interpolate() and StateSpace::dist...
Definition: StateSpace.h:149
@ STATESPACE_DISTANCE_SYMMETRIC
Check whether the distance function is symmetric (StateSpace::distance())
Definition: StateSpace.h:142
@ STATESPACE_SERIALIZATION
Check whether the StateSpace::serialize() and StateSpace::deserialize() work as expected.
Definition: StateSpace.h:161
@ STATESPACE_ENFORCE_BOUNDS_NO_OP
Check that enforceBounds() does not modify the contents of states that are within bounds.
Definition: StateSpace.h:158
bool covers(const StateSpacePtr &other) const
Return true if other is a space that is either included (perhaps equal, perhaps a subspace) in this o...
Definition: StateSpace.cpp:473
virtual bool equalStates(const State *state1, const State *state2) const =0
Checks whether two states are equal.
virtual void copyFromReals(State *destination, const std::vector< double > &reals) const
Copy the values from reals to the state destination using getValueAddressAtLocation()
Definition: StateSpace.cpp:337
virtual void enforceBounds(State *state) const =0
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space)
virtual void sanityChecks() const
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition: StateSpace.cpp:603
virtual StateSamplerPtr allocDefaultStateSampler() const =0
Allocate an instance of the default uniform state sampler for this space.
virtual unsigned int getValidSegmentCountFactor() const
Get the value used to multiply the return value of validSegmentCount().
Definition: StateSpace.cpp:836
StateSamplerPtr allocSubspaceStateSampler(const StateSpacePtr &subspace) const
Allocate a sampler that actually samples only components that are part of subspace.
Definition: StateSpace.cpp:808
virtual bool isMetricSpace() const
Return true if the distance function associated with the space is a metric.
Definition: StateSpace.h:183
double longestValidSegment_
The longest valid segment at the time setup() was called.
Definition: StateSpace.h:543
virtual bool isDiscrete() const
Check if the set of states is discrete.
Definition: StateSpace.cpp:770
const std::map< std::string, ValueLocation > & getValueLocationsByName() const
Get the named locations of values of type double contained in a state from this space....
Definition: StateSpace.cpp:324
static void Diagram(std::ostream &out)
Print a Graphviz digraph that represents the containment diagram for all the instantiated state space...
Definition: StateSpace.cpp:580
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: StateSpace.cpp:237
virtual bool isHybrid() const
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition: StateSpace.cpp:775
const std::map< std::string, SubstateLocation > & getSubstateLocationsByName() const
Get the list of known substate locations (keys of the map corrspond to names of subspaces)
Definition: StateSpace.cpp:284
virtual void setValidSegmentCountFactor(unsigned int factor)
Set factor to be the value to multiply the return value of validSegmentCount(). By default,...
Definition: StateSpace.cpp:820
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection....
Definition: StateSpace.cpp:233
void getCommonSubspaces(const StateSpacePtr &other, std::vector< std::string > &subspaces) const
Get the set of subspaces that this space and other have in common. The computed list of subspaces doe...
Definition: StateSpace.cpp:493
State * getSubstateAtLocation(State *state, const SubstateLocation &loc) const
Get the substate of state that is pointed to by loc.
Definition: StateSpace.cpp:289
unsigned int longestValidSegmentCountFactor_
The factor to multiply the value returned by validSegmentCount(). Rarely used but useful for things l...
Definition: StateSpace.h:547
void setStateSamplerAllocator(const StateSamplerAllocator &ssa)
Set the sampler allocator to use.
Definition: StateSpace.cpp:790
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
Definition: StateSpace.cpp:375
double * getValueAddressAtLocation(State *state, const ValueLocation &loc) const
Get a pointer to the double value in state that loc points to.
Definition: StateSpace.cpp:345
std::map< std::string, ProjectionEvaluatorPtr > projections_
List of available projections.
Definition: StateSpace.h:550
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
Definition: StateSpace.cpp:393
bool hasDefaultProjection() const
Check if a default projection is available.
Definition: StateSpace.cpp:713
void clearStateSamplerAllocator()
Clear the state sampler allocator (reset to default)
Definition: StateSpace.cpp:795
virtual void copyState(State *destination, const State *source) const =0
Copy a state to another. The memory of source and destination should NOT overlap.
std::vector< ValueLocation > valueLocationsInOrder_
The value locations for all varliables of type double contained in a state; The locations point to va...
Definition: StateSpace.h:557
std::map< std::string, ValueLocation > valueLocationsByName_
All the known value locations, by name. The names of state spaces access the first element of a state...
Definition: StateSpace.h:562
virtual void copyToReals(std::vector< double > &reals, const State *source) const
Copy all the real values from a state source to the array reals using getValueAddressAtLocation()
Definition: StateSpace.cpp:329
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
Definition: StateSpace.cpp:380
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition: StateSpace.cpp:752
virtual double distance(const State *state1, const State *state2) const =0
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual StateSamplerPtr allocStateSampler() const
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
Definition: StateSpace.cpp:800
static void List(std::ostream &out)
Print the list of available state space instances.
Definition: StateSpace.cpp:527
bool includes(const StateSpacePtr &other) const
Return true if other is a space included (perhaps equal, perhaps a subspace) in this one.
Definition: StateSpace.cpp:478
const std::map< std::string, ProjectionEvaluatorPtr > & getRegisteredProjections() const
Get all the registered projections.
Definition: StateSpace.cpp:747
virtual void setLongestValidSegmentFraction(double segmentFraction)
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:828
const std::vector< ValueLocation > & getValueLocations() const
Get the locations of values of type double contained in a state from this space. The order of the val...
Definition: StateSpace.cpp:318
ProjectionEvaluatorPtr getProjection(const std::string &name) const
Get the projection registered under a specific name.
Definition: StateSpace.cpp:734
virtual void interpolate(const State *from, const State *to, double t, State *state) const =0
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
virtual State * allocState() const =0
Allocate a state that can store a point in the described space.
double longestValidSegmentFraction_
The fraction of the longest valid segment.
Definition: StateSpace.h:540
virtual void freeState(State *state) const =0
Free the memory of the allocated state.
double maxExtent_
The extent of this space at the time setup() was called.
Definition: StateSpace.h:537
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
Definition: StateSpace.cpp:384
virtual double getMaximumExtent() const =0
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void diagram(std::ostream &out) const
Print a Graphviz digraph that represents the containment diagram for the state space.
Definition: StateSpace.cpp:553
bool hasProjection(const std::string &name) const
Check if a projection with a specified name is available.
Definition: StateSpace.cpp:718
AdvancedStateCopyOperation copyStateData(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS, const State *source)
Copy data from source (state from space sourceS) to dest (state from space destS) on a component by c...
Definition: StateSpace.cpp:1236
AdvancedStateCopyOperation
The possible outputs for an advanced copy operation.
Definition: StateSpace.h:787
StateSpacePtr operator-(const StateSpacePtr &a, const StateSpacePtr &b)
Construct a compound state space that contains subspaces only from a. If a is compound,...
Definition: StateSpace.cpp:1453
OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a, const OptimizationObjectivePtr &b)
Given two optimization objectives, returns a MultiOptimizationObjective that combines the two objecti...
Definition: OptimizationObjective.cpp:268
std::function< StateSamplerPtr(const StateSpace *)> StateSamplerAllocator
Definition of a function that can allocate a state sampler.
Definition: StateSampler.h:191
OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a)
Given a weighing factor and an optimization objective, returns a MultiOptimizationObjective containin...
Definition: OptimizationObjective.cpp:306
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53
Representation of the address of a substate in a state. This structure stores the indexing informatio...
Definition: StateSpace.h:108
const StateSpace * space
The space that is reached if the chain above is followed on the state space.
Definition: StateSpace.h:117
std::vector< std::size_t > chain
In a complex state space there may be multiple compound state spaces that make up an even larger comp...
Definition: StateSpace.h:114
Representation of the address of a value in a state. This structure stores the indexing information n...
Definition: StateSpace.h:123
SubstateLocation stateLocation
Location of the substate that contains the pointed to value.
Definition: StateSpace.h:125
std::size_t index
The index of the value to be accessed, within the substate location above.
Definition: StateSpace.h:128