HybridStateSpace.h

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/* Author: Beverly Xu */
 
#ifndef OMPL_BASE_SPACES_HYBRID_STATE_SPACE_
#define OMPL_BASE_SPACES_HYBRID_STATE_SPACE_
 
#include "ompl/base/StateSpace.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"
#include "HybridTimeStateSpace.h"
#include "ompl/util/Exception.h"
 
namespace ompl
{
    namespace base
    {
        class HybridStateSpace : public CompoundStateSpace
        {
        public:
            explicit HybridStateSpace(const StateSpacePtr &spaceComponent);

            double distance(const ompl::base::State *state1, const ompl::base::State *state2) const override;

            double timeToCoverDistance(const ompl::base::State *state1, const ompl::base::State *state2) const;

            double distanceSpace(const ompl::base::State *state1, const ompl::base::State *state2) const;

            double distanceTime(const ompl::base::State *state1, const ompl::base::State *state2) const;

            static double getStateTime(const ompl::base::State *state);

            static int getStateJumps(const ompl::base::State *state);

            static void setStateJumps(ompl::base::State *state, int jumps);

            static void setStateTime(ompl::base::State *state, double position);

            void setTimeBounds(double lb, double ub);

            StateSpacePtr getSpaceComponent();

            HybridTimeStateSpace *getTimeComponent();

            bool isMetricSpace() const override;

            double getMaximumExtent() const override;

            void updateEpsilon();
 
        protected:
            double eps_ = std::numeric_limits<float>::epsilon();
        };
    }  // namespace base
}  // namespace ompl
 
#endif