DubinsStateSpace.h

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/* Author: Mark Moll */
 
#ifndef OMPL_BASE_SPACES_DUBINS_STATE_SPACE_
#define OMPL_BASE_SPACES_DUBINS_STATE_SPACE_
 
#include <vector>
#include "ompl/base/spaces/SE2StateSpace.h"
#include "ompl/base/MotionValidator.h"
#include <boost/math/constants/constants.hpp>
 
namespace ompl
{
    namespace base
    {
        class DubinsStateSpace : public SE2StateSpace
        {
        public:
            enum DubinsPathSegmentType
            {
                DUBINS_LEFT = 0,
                DUBINS_STRAIGHT = 1,
                DUBINS_RIGHT = 2
            };
 
            static const std::vector<std::vector<DubinsPathSegmentType>> dubinsPathType;
            class DubinsPath
            {
            public:
              DubinsPath(const std::vector<DubinsPathSegmentType> *type = &dubinsPathType[0],
                  double t = 0., double p = std::numeric_limits<double>::max(), double q = 0.)
                   : type_(type)
                {
                    length_[0] = t;
                    length_[1] = p;
                    length_[2] = q;
                    assert(t >= 0.);
                    assert(p >= 0.);
                    assert(q >= 0.);
                }
                double length() const
                {
                    return length_[0] + length_[1] + length_[2];
                }
 
                friend std::ostream& operator<<(std::ostream& os, const DubinsPath& path);
                const std::vector<DubinsPathSegmentType> *type_;
                double length_[3];
                bool reverse_{false};
            };
 
            DubinsStateSpace(double turningRadius = 1.0, bool isSymmetric = false)
              : rho_(turningRadius), isSymmetric_(isSymmetric)
            {
                setName("Dubins" + getName());
                type_ = STATE_SPACE_DUBINS;
            }
 
            bool isMetricSpace() const override
            {
                return false;
            }
 
            double distance(const State *state1, const State *state2) const override;
            static double distance(const State *state1, const State *state2, double radius);
            static double symmetricDistance(const State *state1, const State *state2, double radius);
 
            void interpolate(const State *from, const State *to, double t, State *state) const override;
            virtual void interpolate(const State *from, const State *to, double t, bool &firstTime,
                                     DubinsPath &path, State *state) const;
            virtual void interpolate(const State *from, const DubinsPath &path, double t, State *state, double radius) const;
 
            bool hasSymmetricDistance() const override
            {
                return isSymmetric_;
            }
 
            bool hasSymmetricInterpolate() const override
            {
                return isSymmetric_;
            }
 
            unsigned int validSegmentCount(const State *state1, const State *state2) const override;
 
            void sanityChecks() const override
            {
                double zero = std::numeric_limits<double>::epsilon();
                double eps = std::numeric_limits<float>::epsilon();
                int flags = ~(STATESPACE_INTERPOLATION | STATESPACE_TRIANGLE_INEQUALITY | STATESPACE_DISTANCE_BOUND);
                if (!isSymmetric_)
                    flags &= ~STATESPACE_DISTANCE_SYMMETRIC;
                StateSpace::sanityChecks(zero, eps, flags);
            }
 
            DubinsPath dubins(const State *state1, const State *state2) const;
            static DubinsPath dubins(const State *state1, const State *state2, double radius);
 
        protected:
            double rho_;
 
            bool isSymmetric_;
        };
 
        class DubinsMotionValidator : public MotionValidator
        {
        public:
            DubinsMotionValidator(SpaceInformation *si) : MotionValidator(si)
            {
                defaultSettings();
            }
            DubinsMotionValidator(const SpaceInformationPtr &si) : MotionValidator(si)
            {
                defaultSettings();
            }
            ~DubinsMotionValidator() override = default;
            bool checkMotion(const State *s1, const State *s2) const override;
            bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
 
        private:
            DubinsStateSpace *stateSpace_;
            void defaultSettings();
        };
    }
}
 
#endif