MorseStateSpace.h

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/* Authors: Caleb Voss */
 
#ifndef OMPL_EXTENSION_MORSE_STATE_SPACE_
#define OMPL_EXTENSION_MORSE_STATE_SPACE_
 
#include "ompl/base/StateSpace.h"
#include "ompl/extensions/morse/MorseEnvironment.h"
 
namespace ompl
{
    namespace base
    {
        class MorseStateSpace : public CompoundStateSpace
        {
        public:
            class StateType : public CompoundStateSpace::StateType
            {
            public:
                StateType() : CompoundStateSpace::StateType()
                {
                }
            };
 
            MorseStateSpace(const MorseEnvironmentPtr &env, double positionWeight = 1.0, double linVelWeight = 0.5,
                            double angVelWeight = 0.5, double orientationWeight = 1.0);
 
            virtual ~MorseStateSpace()
            {
            }
 
            const MorseEnvironmentPtr &getEnvironment() const
            {
                return env_;
            }
 
            unsigned int getNrBodies() const
            {
                return env_->rigidBodies_;
            }
 
            void setBounds();
 
            void setPositionBounds(const RealVectorBounds &bounds);
 
            void setLinearVelocityBounds(const RealVectorBounds &bounds);
 
            void setAngularVelocityBounds(const RealVectorBounds &bounds);
 
            void readState(State *state) const;
 
            void writeState(const State *state) const;
 
            bool satisfiesBounds(const State *state) const override;
 
            State *allocState() const override;
            void freeState(State *state) const override;
            void copyState(State *destination, const State *source) const override;
            void interpolate(const State *from, const State *to, double t, State *state) const override;
 
            StateSamplerPtr allocDefaultStateSampler() const override;
            StateSamplerPtr allocStateSampler() const override;
 
        protected:
            MorseEnvironmentPtr env_;
        };
    }
}
 
#endif