ReedsSheppStateSpace.h

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/* Author: Mark Moll */
 
#ifndef OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_
#define OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_
 
#include "ompl/base/spaces/SE2StateSpace.h"
#include "ompl/base/MotionValidator.h"
#include <boost/math/constants/constants.hpp>
 
namespace ompl
{
    namespace base
    {
        class ReedsSheppStateSpace : public SE2StateSpace
        {
        public:
            enum ReedsSheppPathSegmentType
            {
                RS_NOP = 0,
                RS_LEFT = 1,
                RS_STRAIGHT = 2,
                RS_RIGHT = 3
            };
            static const ReedsSheppPathSegmentType reedsSheppPathType[18][5];
            class ReedsSheppPath
            {
            public:
                ReedsSheppPath(const ReedsSheppPathSegmentType *type = reedsSheppPathType[0],
                               double t = std::numeric_limits<double>::max(), double u = 0., double v = 0.,
                               double w = 0., double x = 0.);
                double length() const
                {
                    return totalLength_;
                }
 
                const ReedsSheppPathSegmentType *type_;
                double length_[5];
                double totalLength_;
            };
 
            ReedsSheppStateSpace(double turningRadius = 1.0) : rho_(turningRadius)
            {
                type_ = STATE_SPACE_REEDS_SHEPP;
            }
 
            double distance(const State *state1, const State *state2) const override;
            unsigned int validSegmentCount(const State *state1, const State *state2) const override
            {
                return longestValidSegmentCountFactor_ *
                       (unsigned int)ceil(distance(state1, state2) / longestValidSegment_);
            }
 
            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,
                                     ReedsSheppPath &path, State *state) const;
 
            void sanityChecks() const override
            {
                double zero = std::numeric_limits<double>::epsilon();
                double eps = .1;  // rarely such a large error will occur
                StateSpace::sanityChecks(zero, eps, ~STATESPACE_INTERPOLATION);
            }
 
            ReedsSheppPath reedsShepp(const State *state1, const State *state2) const;
 
        protected:
            virtual void interpolate(const State *from, const ReedsSheppPath &path, double t, State *state) const;
 
            double rho_;
        };
 
        class ReedsSheppMotionValidator : public MotionValidator
        {
        public:
            ReedsSheppMotionValidator(SpaceInformation *si) : MotionValidator(si)
            {
                defaultSettings();
            }
            ReedsSheppMotionValidator(const SpaceInformationPtr &si) : MotionValidator(si)
            {
                defaultSettings();
            }
            ~ReedsSheppMotionValidator() 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:
            ReedsSheppStateSpace *stateSpace_;
            void defaultSettings();
        };
    }
}
 
#endif