MobiusStateSpace.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_BASE_SPACES_MOBIUS_STATE_SPACE_
#define OMPL_BASE_SPACES_MOBIUS_STATE_SPACE_
 
#include <ompl/base/StateSpace.h>
#include <ompl/base/spaces/SO2StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
namespace ompl
{
    namespace base
    {
        class MobiusStateSpace : public CompoundStateSpace
        {
        public:
            class StateType : public CompoundStateSpace::StateType
            {
            public:
                StateType() = default;
 
                double getU() const
                {
                    return as<SO2StateSpace::StateType>(0)->value;
                }
                double getV() const
                {
                    return as<RealVectorStateSpace::StateType>(1)->values[0];
                }
 
                void setU(double u)
                {
                    as<SO2StateSpace::StateType>(0)->value = u;
                }
                void setV(double v)
                {
                    as<RealVectorStateSpace::StateType>(1)->values[0] = v;
                }
                void setUV(double u, double v)
                {
                    setU(u);
                    setV(v);
                }
            };
 
            MobiusStateSpace(double intervalMax = 1.0, double radius = 1.0);
 
            virtual ~MobiusStateSpace() override = default;
 
            virtual double distance(const State *state1, const State *state2) const override;
 
            virtual void interpolate(const State *from, const State *to, double t, State *state) const override;
 
            virtual State *allocState() const override;
 
            /* \brief Convert a state to a 3D vector to visualize the state
             * space. */
            Eigen::Vector3f toVector(const State *state) const;
 
        private:
            double radius_{1.0};       // radius of inner circle
        };
    }
}
 
#endif