VanaStateSpace.h

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/* Author: Mark Moll */
 
#ifndef OMPL_BASE_SPACES_VANA_STATE_SPACE_
#define OMPL_BASE_SPACES_VANA_STATE_SPACE_
 
#include "ompl/base/spaces/DubinsStateSpace.h"
#include <optional>
 
namespace ompl::base
{
    class VanaStateSpace : public CompoundStateSpace
    {
    public:
        class PathType
        {
        public:
            PathType();
            PathType(const PathType &path);
            ~PathType();
            double length() const;
            PathType &operator=(const PathType &path);
 
            friend std::ostream &operator<<(std::ostream &os, const PathType &path);
 
            double horizontalRadius_{1.};
            double verticalRadius_{1.};
 
            DubinsStateSpace::PathType pathXY_;
            DubinsStateSpace::PathType pathSZ_;
            DubinsStateSpace::StateType *startSZ_{nullptr};
        };

        class StateType : public CompoundStateSpace::StateType
        {
        public:
            StateType() = default;
            double operator[](unsigned index) const
            {
                return as<RealVectorStateSpace::StateType>(0)->values[index];
            }
            double &operator[](unsigned index)
            {
                return as<RealVectorStateSpace::StateType>(0)->values[index];
            }
            double yaw() const
            {
                return as<SO2StateSpace::StateType>(1)->value;
            }
            double &yaw()
            {
                return as<SO2StateSpace::StateType>(1)->value;
            }
            double pitch() const
            {
                return as<RealVectorStateSpace::StateType>(0)->values[3];
            }
            double &pitch()
            {
                return as<RealVectorStateSpace::StateType>(0)->values[3];
            }
        };
 
        VanaStateSpace(double turningRadius = 1.0, double maxPitch = boost::math::double_constants::sixth_pi);
        VanaStateSpace(double turningRadius, std::pair<double, double> pitchRange);
        ~VanaStateSpace() override = default;
 
        bool isMetricSpace() const override
        {
            return false;
        }
        bool hasSymmetricDistance() const override
        {
            return false;
        }
 
        bool hasSymmetricInterpolate() const override
        {
            return false;
        }
 
        void sanityChecks() const override
        {
            double zero = std::numeric_limits<double>::epsilon();
            double eps = std::numeric_limits<float>::epsilon();
            int flags = ~(STATESPACE_INTERPOLATION | STATESPACE_TRIANGLE_INEQUALITY | STATESPACE_DISTANCE_BOUND |
                          STATESPACE_DISTANCE_SYMMETRIC);
            StateSpace::sanityChecks(zero, eps, flags);
        }

        void setBounds(const RealVectorBounds &bounds)
        {
            RealVectorBounds b(bounds);
            if (bounds.low.size() < 4)
            {
                b.resize(4);
                b.low[3] = minPitch_;
                b.high[3] = maxPitch_;
            }
            as<RealVectorStateSpace>(0)->setBounds(b);
        }

        const RealVectorBounds &getBounds() const
        {
            return as<RealVectorStateSpace>(0)->getBounds();
        }

        void setTolerance(double tolerance)
        {
            tolerance_ = tolerance;
        }

        double getTolerance()
        {
            return tolerance_;
        }
 
        State *allocState() const override;
        void registerProjections() override;
 
        double distance(const State *state1, const State *state2) const override;
 
        unsigned int validSegmentCount(const State *state1, const State *state2) const override;
 
        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, PathType &path, State *state) const;
        virtual void interpolate(const State *from, const PathType &path, double t, State *state) const;

        std::optional<PathType> getPath(const State *state1, const State *state2) const;

        bool decoupled(const State *state1, const State *state2, double radius, PathType &path,
                       DubinsStateSpace::StateType *endSZ) const;
 
    protected:
        DubinsStateSpace::StateType *get2DPose(double x, double y, double yaw) const;

        double rho_;
        double minPitch_;
        double maxPitch_;
        double tolerance_{1e-8};
        DubinsStateSpace dubinsSpace_;
    };
}  // namespace ompl::base
 
#endif