SE3StateSpace.cpp

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Rice University
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Rice University nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#include "ompl/base/spaces/SE3StateSpace.h"
#include "ompl/tools/config/MagicConstants.h"
#include <cstring>
 
ompl::base::State *ompl::base::SE3StateSpace::allocState() const
{
    auto *state = new StateType();
    allocStateComponents(state);
    return state;
}
 
void ompl::base::SE3StateSpace::freeState(State *state) const
{
    CompoundStateSpace::freeState(state);
}
 
void ompl::base::SE3StateSpace::registerProjections()
{
    class SE3DefaultProjection : public ProjectionEvaluator
    {
    public:
        SE3DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
        {
        }
 
        unsigned int getDimension() const override
        {
            return 3;
        }
 
        void defaultCellSizes() override
        {
            cellSizes_.resize(3);
            bounds_ = space_->as<SE3StateSpace>()->getBounds();
            cellSizes_[0] = (bounds_.high[0] - bounds_.low[0]) / magic::PROJECTION_DIMENSION_SPLITS;
            cellSizes_[1] = (bounds_.high[1] - bounds_.low[1]) / magic::PROJECTION_DIMENSION_SPLITS;
            cellSizes_[2] = (bounds_.high[2] - bounds_.low[2]) / magic::PROJECTION_DIMENSION_SPLITS;
        }
 
        void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override
        {
            projection = Eigen::Map<const Eigen::VectorXd>(
                state->as<SE3StateSpace::StateType>()->as<RealVectorStateSpace::StateType>(0)->values, 3);
        }
    };
 
    registerDefaultProjection(std::make_shared<SE3DefaultProjection>(this));
}