SpaceTimeStateSpace.h

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/* Author: Francesco Grothe */
 
#ifndef OMPL_BASE_SPACES_ANIMATION_STATE_SPACE_
#define OMPL_BASE_SPACES_ANIMATION_STATE_SPACE_
 
#include "ompl/base/StateSpace.h"
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include <ompl/base/spaces/TimeStateSpace.h>
#include <ompl/util/Exception.h>
 
namespace ompl
{
    namespace base
    {
        class SpaceTimeStateSpace : public CompoundStateSpace
        {
        public:
            explicit SpaceTimeStateSpace(const StateSpacePtr& spaceComponent, double vMax = 1.0, double timeWeight = 0.5);
 
            double distance(const ompl::base::State *state1, const ompl::base::State *state2) const override;
 
            double timeToCoverDistance(const ompl::base::State *state1, const ompl::base::State *state2) const;
 
            double distanceSpace(const ompl::base::State *state1, const ompl::base::State *state2) const;
 
            double distanceTime(const ompl::base::State *state1, const ompl::base::State *state2) const;
 
            static double getStateTime(const ompl::base::State *state) ;
 
            void setTimeBounds(double lb, double ub);
 
            double getVMax() const;
 
            void setVMax(double vMax);
 
            StateSpacePtr getSpaceComponent();
 
            TimeStateSpace * getTimeComponent();
 
            bool isMetricSpace() const override;
 
            double getMaximumExtent() const override;
 
            void updateEpsilon();
 
        protected:
            double vMax_;
 
            double eps_ = std::numeric_limits<float>::epsilon();
        };
    }
}
 
#endif