HybridTimeStateSpace.h

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/* Author: Beverly Xu */
 
#ifndef OMPL_BASE_SPACES_HYBRID_TIME_STATE_SPACE_
#define OMPL_BASE_SPACES_HYBRID_TIME_STATE_SPACE_
 
#include "ompl/base/StateSpace.h"
 
namespace ompl
{
    namespace base
    {
        class HybridTimeStateSampler : public StateSampler
        {
        public:
            HybridTimeStateSampler(const StateSpace *space) : StateSampler(space)
            {
            }
 
            void sampleUniform(State *state) override;
            void sampleUniformNear(State *state, const State *near, double distance) override;
            void sampleGaussian(State *state, const State *mean, double stdDev) override;
        };

        class HybridTimeStateSpace : public StateSpace
        {
        public:
            class StateType : public State
            {
            public:
                double position;

                unsigned int jumps;
            };
 
            HybridTimeStateSpace()
            {
                setName("Hybrid Time" + getName());
                type_ = STATE_SPACE_TIME;  // TODO: add STATE_SPACE_HYBRID_TIME to ompl::base::StateSpaceType
            }
 
            ~HybridTimeStateSpace() override = default;
 
            unsigned int getDimension() const override;
 
            double getMaximumExtent() const override;
 
            double getMeasure() const override;

            void setTimeBounds(double minTime, double maxTime);

            void setJumpBounds(unsigned int minJumps, unsigned int maxJumps);

            double getMinTimeBound() const
            {
                return minTime_;
            }

            double getMaxTimeBound() const
            {
                return maxTime_;
            }

            double getMinJumpsBound() const
            {
                return minJumps_;
            }

            double getMaxJumpBound() const
            {
                return maxJumps_;
            }

            bool isTimeBounded() const
            {
                return timeBounded_;
            }

            bool areJumpsBounded() const
            {
                return jumpsBounded_;
            }
 
            void enforceBounds(State *state) const override;
 
            bool satisfiesBounds(const State *state) const override;
 
            void copyState(State *destination, const State *source) const override;
 
            unsigned int getSerializationLength() const override;
 
            void serialize(void *serialization, const State *state) const override;
 
            void deserialize(State *state, const void *serialization) const override;
 
            double distance(const State *state1, const State *state2) const override;
 
            bool equalStates(const State *state1, const State *state2) const override;
 
            void interpolate(const State *from, const State *to, double t, State *state) const override;
 
            StateSamplerPtr allocDefaultStateSampler() const override;
 
            State *allocState() const override;
 
            void freeState(State *state) const override;
 
            double *getValueAddressAtIndex(State *state, unsigned int index) const override;
 
            void printState(const State *state, std::ostream &out) const override;
 
            void printSettings(std::ostream &out) const override;
 
            // void registerProjections() override;
 
        protected:
            bool timeBounded_{false};

            double minTime_{0.0};

            double maxTime_{0.0};

            bool jumpsBounded_{false};

            unsigned int minJumps_{0};

            unsigned int maxJumps_{0};
        };
    }  // namespace base
}  // namespace ompl
 
#endif