HybridStateSpace.cpp

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/* Author: Beverly Xu */
 
#include "ompl/base/spaces/HybridStateSpace.h"
 
ompl::base::HybridStateSpace::HybridStateSpace(const StateSpacePtr &spaceComponent)
{
    setName("HybridStateSpace" + getName());
    addSubspace(spaceComponent, 1);                            // space component
    addSubspace(std::make_shared<HybridTimeStateSpace>(), 1);  // time component
    lock();
}
 
double ompl::base::HybridStateSpace::distance(const ompl::base::State *state1, const ompl::base::State *state2) const
{
    double deltaSpace = distanceSpace(state1, state2);
 
    return deltaSpace;
}
 
/*
 * Direction-independent distance in space
 */
double ompl::base::HybridStateSpace::distanceSpace(const ompl::base::State *state1,
                                                   const ompl::base::State *state2) const
{
    const auto *cstate1 = static_cast<const CompoundState *>(state1);
    const auto *cstate2 = static_cast<const CompoundState *>(state2);
 
    return components_[0]->distance(cstate1->components[0], cstate2->components[0]);
}
 
/*
 * Direction-independent distance in time
 */
double ompl::base::HybridStateSpace::distanceTime(const ompl::base::State *state1,
                                                  const ompl::base::State *state2) const
{
    const auto *cstate1 = static_cast<const CompoundState *>(state1);
    const auto *cstate2 = static_cast<const CompoundState *>(state2);
 
    return components_[1]->distance(cstate1->components[1], cstate2->components[1]);
}
 
ompl::base::StateSpacePtr ompl::base::HybridStateSpace::getSpaceComponent()
{
    return components_[0];
}
 
ompl::base::HybridTimeStateSpace *ompl::base::HybridStateSpace::getTimeComponent()  // change to hybrid time
{
    return components_[1]->as<HybridTimeStateSpace>();
}
 
bool ompl::base::HybridStateSpace::isMetricSpace() const
{
    return false;
}
 
double ompl::base::HybridStateSpace::getMaximumExtent() const
{
    return std::numeric_limits<double>::infinity();
}
 
double ompl::base::HybridStateSpace::getStateTime(const ompl::base::State *state)
{
    return state->as<CompoundState>()->as<HybridTimeStateSpace::StateType>(1)->position;
}
 
int ompl::base::HybridStateSpace::getStateJumps(const ompl::base::State *state)
{
    return state->as<CompoundState>()->as<HybridTimeStateSpace::StateType>(1)->jumps;
}
 
void ompl::base::HybridStateSpace::setStateTime(ompl::base::State *state, double position)
{
    state->as<CompoundState>()->as<HybridTimeStateSpace::StateType>(1)->position = position;
}
 
void ompl::base::HybridStateSpace::setStateJumps(ompl::base::State *state, int jumps)
{
    state->as<CompoundState>()->as<HybridTimeStateSpace::StateType>(1)->jumps = jumps;
}