TimeStateSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/TimeStateSpace.h"
38 #include "ompl/util/Exception.h"
39 #include "ompl/tools/config/MagicConstants.h"
40 #include <limits>
41 
43 {
44  if (space_->as<TimeStateSpace>()->isBounded())
45  state->as<TimeStateSpace::StateType>()->position = rng_.uniformReal(
46  space_->as<TimeStateSpace>()->getMinTimeBound(), space_->as<TimeStateSpace>()->getMaxTimeBound());
47  else
48  state->as<TimeStateSpace::StateType>()->position = 0.0;
49 }
50 
51 void ompl::base::TimeStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
52 {
53  state->as<TimeStateSpace::StateType>()->position =
54  rng_.uniformReal(near->as<TimeStateSpace::StateType>()->position - distance,
55  near->as<TimeStateSpace::StateType>()->position + distance);
56  space_->enforceBounds(state);
57 }
58 
59 void ompl::base::TimeStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
60 {
61  state->as<TimeStateSpace::StateType>()->position =
62  rng_.gaussian(mean->as<TimeStateSpace::StateType>()->position, stdDev);
63  space_->enforceBounds(state);
64 }
65 
67 {
68  return 1;
69 }
70 
71 void ompl::base::TimeStateSpace::setBounds(double minTime, double maxTime)
72 {
73  if (minTime > maxTime)
74  throw Exception("The maximum position in time cannot be before the minimum position in time");
75 
76  minTime_ = minTime;
77  maxTime_ = maxTime;
78  bounded_ = true;
79 }
80 
82 {
83  return bounded_ ? maxTime_ - minTime_ : 1.0;
84 }
85 
87 {
88  return getMaximumExtent();
89 }
90 
92 {
93  if (bounded_)
94  {
95  if (state->as<StateType>()->position > maxTime_)
96  state->as<StateType>()->position = maxTime_;
97  else if (state->as<StateType>()->position < minTime_)
98  state->as<StateType>()->position = minTime_;
99  }
100 }
101 
103 {
104  return !bounded_ || (state->as<StateType>()->position >= minTime_ - std::numeric_limits<double>::epsilon() &&
105  state->as<StateType>()->position <= maxTime_ + std::numeric_limits<double>::epsilon());
106 }
107 
108 void ompl::base::TimeStateSpace::copyState(State *destination, const State *source) const
109 {
110  destination->as<StateType>()->position = source->as<StateType>()->position;
111 }
112 
114 {
115  return sizeof(double);
116 }
117 
118 void ompl::base::TimeStateSpace::serialize(void *serialization, const State *state) const
119 {
120  memcpy(serialization, &state->as<StateType>()->position, sizeof(double));
121 }
122 
123 void ompl::base::TimeStateSpace::deserialize(State *state, const void *serialization) const
124 {
125  memcpy(&state->as<StateType>()->position, serialization, sizeof(double));
126 }
127 
128 double ompl::base::TimeStateSpace::distance(const State *state1, const State *state2) const
129 {
130  return fabs(state1->as<StateType>()->position - state2->as<StateType>()->position);
131 }
132 
133 bool ompl::base::TimeStateSpace::equalStates(const State *state1, const State *state2) const
134 {
135  return fabs(state1->as<StateType>()->position - state2->as<StateType>()->position) <
136  std::numeric_limits<double>::epsilon() * 2.0;
137 }
138 
139 void ompl::base::TimeStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
140 {
141  state->as<StateType>()->position =
142  from->as<StateType>()->position + (to->as<StateType>()->position - from->as<StateType>()->position) * t;
143 }
144 
146 {
147  return std::make_shared<TimeStateSampler>(this);
148 }
149 
151 {
152  return new StateType();
153 }
154 
156 {
157  delete static_cast<StateType *>(state);
158 }
159 
161 {
162  class TimeDefaultProjection : public ProjectionEvaluator
163  {
164  public:
165  TimeDefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
166  {
167  }
168 
169  unsigned int getDimension() const override
170  {
171  return 1;
172  }
173 
174  void defaultCellSizes() override
175  {
176  cellSizes_.resize(1);
177  if (space_->as<TimeStateSpace>()->isBounded())
178  {
179  bounds_.resize(1);
180  bounds_.low[0] = space_->as<TimeStateSpace>()->getMinTimeBound();
181  bounds_.high[0] = space_->as<TimeStateSpace>()->getMaxTimeBound();
182  cellSizes_[0] = bounds_.getDifference()[0] / magic::PROJECTION_DIMENSION_SPLITS;
183  }
184  else
185  cellSizes_[0] = 1.0;
186  }
187 
188  void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override
189  {
190  projection(0) = state->as<TimeStateSpace::StateType>()->position;
191  }
192  };
193 
194  registerDefaultProjection(std::make_shared<TimeDefaultProjection>(this));
195 }
196 
197 double *ompl::base::TimeStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
198 {
199  return index == 0 ? &(state->as<StateType>()->position) : nullptr;
200 }
201 
202 void ompl::base::TimeStateSpace::printState(const State *state, std::ostream &out) const
203 {
204  out << "TimeState [";
205  if (state != nullptr)
206  out << state->as<StateType>()->position;
207  else
208  out << "nullptr";
209  out << ']' << std::endl;
210 }
211 
212 void ompl::base::TimeStateSpace::printSettings(std::ostream &out) const
213 {
214  out << "Time state space '" << getName() << "'" << std::endl;
215 }
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:134
double getMinTimeBound() const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded.
double position
The position in time.
void freeState(State *state) const override
Free the memory of the allocated state.
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op,...
Definition of an abstract state.
Definition: State.h:113
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
const T * as() const
Cast this instance to a desired type.
Definition: State.h:162
const StateSpace * space_
The state space this sampler samples.
Definition: StateSampler.h:168
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
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...
bool isBounded() const
Check if the time is bounded or not.
State * allocState() const override
Allocate a state that can store a point in the described space.
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
The definition of a time state.
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
T * as()
Cast this instance to a desired type.
Definition: StateSpace.h:151
RNG rng_
An instance of a random number generator.
Definition: StateSampler.h:171
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
void sampleUniform(State *state) override
Sample a state.
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
A shared pointer wrapper for ompl::base::StateSampler.
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
The exception type for ompl.
Definition: Exception.h:78
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....