TorusStateSpace.h
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2021,
5  * Max Planck Institute for Intelligent Systems (MPI-IS).
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of the MPI-IS nor the names
19  * of its contributors may be used to endorse or promote products
20  * derived from this software without specific prior written
21  * permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *********************************************************************/
36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_BASE_SPACES_TORUS_STATE_SPACE_
40 #define OMPL_BASE_SPACES_TORUS_STATE_SPACE_
41 
42 #include <ompl/base/StateSpace.h>
43 #include <ompl/base/spaces/SO2StateSpace.h>
44 
45 namespace ompl
46 {
47  namespace base
48  {
50  class TorusStateSampler : public StateSampler
51  {
52  public:
53  TorusStateSampler(const StateSpace *space);
54 
55  void sampleUniform(State *state) override;
56 
57  void sampleUniformNear(State *state, const State *near, double distance) override;
58 
59  void sampleGaussian(State *state, const State *mean, double stdDev) override;
60  };
61 
62  class TorusStateSpace : public CompoundStateSpace
63  {
64  public:
66  {
67  public:
68  StateType() = default;
69 
70  double getS1() const
71  {
72  return as<SO2StateSpace::StateType>(0)->value;
73  }
74  double getS2() const
75  {
76  return as<SO2StateSpace::StateType>(1)->value;
77  }
78 
79  void setS1(double s)
80  {
81  as<SO2StateSpace::StateType>(0)->value = s;
82  }
83  void setS2(double s)
84  {
85  as<SO2StateSpace::StateType>(1)->value = s;
86  }
87  void setS1S2(double s, double t)
88  {
89  setS1(s);
90  setS2(t);
91  }
92  };
93 
94  TorusStateSpace(double majorRadius = 1, double minorRadius = 0.5);
95 
96  virtual ~TorusStateSpace() override = default;
97 
99 
100  double distance(const State *state1, const State *state2) const override;
101 
102  State *allocState() const override;
103 
104  double getMajorRadius() const;
105 
106  double getMinorRadius() const;
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  private:
113  double majorRadius_;
114 
115  double minorRadius_;
116  };
117  }
118 }
119 
120 #endif
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...
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 sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
State * allocState() const override
Allocate a state that can store a point in the described space.
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.
A shared pointer wrapper for ompl::base::StateSampler.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21