SphereStateSpace.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_BASE_SPACES_SPHERE_STATE_SPACE_
40 #define OMPL_BASE_SPACES_SPHERE_STATE_SPACE_
41 
42 #include <ompl/base/StateSpace.h>
43 #include <ompl/base/spaces/SO2StateSpace.h>
44 #include <ompl/base/spaces/RealVectorStateSpace.h>
45 #include <Eigen/Core>
46 
47 namespace ompl
48 {
49  namespace base
50  {
52  class SphereStateSampler : public ompl::base::StateSampler
53  {
54  public:
55  SphereStateSampler(const StateSpace *space);
56 
57  void sampleUniform(State *state) override;
58 
59  void sampleUniformNear(State *state, const State *near, double distance) override;
60 
61  void sampleGaussian(State *state, const State *mean, double stdDev) override;
62  };
63 
64  class SphereStateSpace : public CompoundStateSpace
65  {
66  public:
68  {
69  public:
70  StateType() = default;
71 
72  double getTheta() const
73  {
74  return as<SO2StateSpace::StateType>(0)->value;
75  }
76  double getPhi() const
77  {
78  return as<RealVectorStateSpace::StateType>(1)->values[0];
79  }
80 
81  void setTheta(double theta)
82  {
83  as<SO2StateSpace::StateType>(0)->value = theta;
84  }
85  void setPhi(double phi)
86  {
87  as<RealVectorStateSpace::StateType>(1)->values[0] = phi;
88  }
89  void setThetaPhi(double theta, double phi)
90  {
91  setTheta(theta);
92  setPhi(phi);
93  }
94  };
95 
96  SphereStateSpace(double radius = 1.0);
97 
98  virtual ~SphereStateSpace() override = default;
99 
100  virtual StateSamplerPtr allocDefaultStateSampler() const override;
101 
102  virtual double getMeasure() const override;
103 
104  virtual double distance(const State *state1, const State *state2) const override;
105 
106  virtual State *allocState() const override;
107 
108  /* \brief Convert a state to a 3D vector to visualize the state
109  * space. */
110  Eigen::Vector3f toVector(const State *state) const;
111 
112  protected:
113  double radius_{1.0};
114  };
115  }
116 }
117 
118 #endif
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
virtual StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
virtual State * allocState() const override
Allocate a state that can store a point in the described space.
virtual double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:641
void sampleUniform(State *state) override
Sample a state.
Abstract definition of a state space sampler.
Definition: StateSampler.h:128
A shared pointer wrapper for ompl::base::StateSampler.
virtual double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
Main namespace. Contains everything in this library.
Definition: AppBase.h:21