State space representing OpenDE states. More...

#include <ompl/extensions/ode/OpenDEStateSpace.h>

Inheritance diagram for ompl::control::OpenDEStateSpace:

Classes
class	StateType
	OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...

Public Types
enum	{ STATE_COLLISION_KNOWN_BIT = 0, STATE_COLLISION_VALUE_BIT = 1, STATE_VALIDITY_KNOWN_BIT = 2, STATE_VALIDITY_VALUE_BIT = 3 }

Public Types inherited from ompl::base::CompoundStateSpace
using	StateType = ompl::base::CompoundState
	Define the type of state allocated by this state space.

Public Types inherited from ompl::base::StateSpace
enum	SanityChecks { STATESPACE_DISTANCE_DIFFERENT_STATES = (1 << 1), STATESPACE_DISTANCE_SYMMETRIC = (1 << 2), STATESPACE_INTERPOLATION = (1 << 3), STATESPACE_TRIANGLE_INEQUALITY = (1 << 4), STATESPACE_DISTANCE_BOUND = (1 << 5), STATESPACE_RESPECT_BOUNDS = (1 << 6), STATESPACE_ENFORCE_BOUNDS_NO_OP = (1 << 7), STATESPACE_SERIALIZATION = (1 << 8) }
	Flags to use in a bit mask for state space sanity checks. Some basic checks do not have flags associated (they are always executed; for example, whether copyState() works as expected) More...

using	StateType = ompl::base::State
	Define the type of state allocated by this space.

Public Member Functions
	OpenDEStateSpace (OpenDEEnvironmentPtr env, double positionWeight=1.0, double linVelWeight=0.5, double angVelWeight=0.5, double orientationWeight=1.0)
	Construct a state space representing OpenDE states. More...

const OpenDEEnvironmentPtr &	getEnvironment () const
	Get the OpenDE environment this state space corresponds to.

unsigned int	getNrBodies () const
	Get the number of bodies state is maintained for.

void	setDefaultBounds ()
	By default, the volume bounds enclosing the geometry of the environment are computed to include all objects in the spaces collision checking is performed (env.collisionSpaces_). The linear and angular velocity bounds are set as -1 to 1 for each dimension.

void	setVolumeBounds (const base::RealVectorBounds &bounds)
	Set the bounds for each of the position subspaces.

void	setLinearVelocityBounds (const base::RealVectorBounds &bounds)
	Set the bounds for each of the linear velocity subspaces.

void	setAngularVelocityBounds (const base::RealVectorBounds &bounds)
	Set the bounds for each of the angular velocity subspaces.

virtual void	readState (base::State *state) const
	Read the parameters of the OpenDE bodies and store them in state.

virtual void	writeState (const base::State *state) const
	Set the parameters of the OpenDE bodies to be the ones read from state. The code will technically work if this function is called from multiple threads simultaneously, but the results are unpredictable.

bool	satisfiesBoundsExceptRotation (const StateType *state) const
	This is a convenience function provided for optimization purposes. It checks whether a state satisfies its bounds. Typically, in the process of simulation the rotations remain valid (very slightly out of bounds), so there is no point in updating or checking them. This function checks all other bounds (position, linear and agular velocities)

base::State *	allocState () const override
	Allocate a state that can store a point in the described space.

void	freeState (base::State *state) const override
	Free the memory of the allocated state.

void	copyState (base::State destination, const base::State source) const override
	Copy a state to another. The memory of source and destination should NOT overlap. More...

void	interpolate (const base::State from, const base::State to, double t, base::State *state) const override
	Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.

base::StateSamplerPtr	allocDefaultStateSampler () const override
	Allocate an instance of the default uniform state sampler for this space.

base::StateSamplerPtr	allocStateSampler () const override
	Allocate an instance of the state sampler for this space. This sampler will be allocated with the sampler allocator that was previously specified by setStateSamplerAllocator() or, if no sampler allocator was specified, allocDefaultStateSampler() is called.

virtual bool	evaluateCollision (const base::State *state) const
	Fill the OpenDEStateSpace::STATE_COLLISION_VALUE_BIT of StateType::collision member of a state, if unspecified. Return the value value of that bit.

Public Member Functions inherited from ompl::base::CompoundStateSpace
	CompoundStateSpace ()
	Construct an empty compound state space.

	CompoundStateSpace (const std::vector< StateSpacePtr > &components, const std::vector< double > &weights)
	Construct a compound state space from a list of subspaces (components) and their corresponding weights (weights)

template<class T >
T *	as (const unsigned int index) const
	Cast a component of this instance to a desired type. More...

template<class T >
T *	as (const std::string &name) const
	Cast a component of this instance to a desired type. More...

bool	isCompound () const override
	Check if the state space is compound.

bool	isHybrid () const override
	Check if this is a hybrid state space (i.e., both discrete and continuous components exist)

void	printState (const State *state, std::ostream &out) const override
	Print a state to a stream.

void	printSettings (std::ostream &out) const override
	Print the settings for this state space to a stream.

void	computeLocations () override
	Compute the location information for various components of the state space. Either this function or setup() must be called before any calls to getValueAddressAtName(), getValueAddressAtLocation() (and other functions where those are used).

void	setup () override
	Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.

void	addSubspace (const StateSpacePtr &component, double weight)
	Adds a new state space as part of the compound state space. For computing distances within the compound state space, the weight of the component also needs to be specified.

unsigned int	getSubspaceCount () const
	Get the number of state spaces that make up the compound state space.

const StateSpacePtr &	getSubspace (unsigned int index) const
	Get a specific subspace from the compound state space.

const StateSpacePtr &	getSubspace (const std::string &name) const
	Get a specific subspace from the compound state space.

unsigned int	getSubspaceIndex (const std::string &name) const
	Get the index of a specific subspace from the compound state space.

bool	hasSubspace (const std::string &name) const
	Check if a specific subspace is contained in this state space.

double	getSubspaceWeight (unsigned int index) const
	Get the weight of a subspace from the compound state space (used in distance computation)

double	getSubspaceWeight (const std::string &name) const
	Get the weight of a subspace from the compound state space (used in distance computation)

void	setSubspaceWeight (unsigned int index, double weight)
	Set the weight of a subspace in the compound state space (used in distance computation)

void	setSubspaceWeight (const std::string &name, double weight)
	Set the weight of a subspace in the compound state space (used in distance computation)

const std::vector< StateSpacePtr > &	getSubspaces () const
	Get the list of components.

const std::vector< double > &	getSubspaceWeights () const
	Get the list of component weights.

bool	isLocked () const
	Return true if the state space is locked. A value of true means that no further spaces can be added as components.

void	lock ()
	Lock this state space. This means no further spaces can be added as components. This function can be for instance called from the constructor of a state space that inherits from CompoundStateSpace to prevent the user to add further components.

StateSamplerPtr	allocSubspaceStateSampler (const StateSpace *subspace) const override
	Allocate a sampler that actually samples only components that are part of subspace.

unsigned int	getDimension () const override
	Get the dimension of the space (not the dimension of the surrounding ambient space)

double	getMaximumExtent () const override
	Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity. More...

double	getMeasure () const override
	Get a measure of the space (this can be thought of as a generalization of volume)

void	enforceBounds (State *state) const override
	Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op.

bool	satisfiesBounds (const State *state) const override
	Check if a state is inside the bounding box. For unbounded spaces this function can always return true.

unsigned int	getSerializationLength () const override
	Get the number of chars in the serialization of a state in this space.

void	serialize (void serialization, const State state) const override
	Write the binary representation of state to serialization.

void	deserialize (State state, const void serialization) const override
	Read the binary representation of a state from serialization and write it to state.

double	distance (const State state1, const State state2) const override
	Computes distance between two states. This function satisfies the properties of a metric if isMetricSpace() is true, and its return value will always be between 0 and getMaximumExtent()

void	setLongestValidSegmentFraction (double segmentFraction) override
	When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the space's maximum extent. The call is passed to all contained subspaces.

unsigned int	validSegmentCount (const State state1, const State state2) const override
	Count how many segments of the "longest valid length" fit on the motion from state1 to state2. This is the max() of the counts returned by contained subspaces.

bool	equalStates (const State state1, const State state2) const override
	Checks whether two states are equal.

double *	getValueAddressAtIndex (State *state, unsigned int index) const override
	Many states contain a number of double values. This function provides a means to get the memory address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is nullptr. More...

Public Member Functions inherited from ompl::base::StateSpace
	StateSpace (const StateSpace &)=delete

StateSpace &	operator= (const StateSpace &)=delete

	StateSpace ()
	Constructor. Assigns a unique name to the space.

template<class T >
T *	as ()
	Cast this instance to a desired type. More...

template<class T >
const T *	as () const
	Cast this instance to a desired type. More...

virtual bool	isDiscrete () const
	Check if the set of states is discrete. More...

virtual bool	isMetricSpace () const
	Return true if the distance function associated with the space is a metric.

virtual bool	hasSymmetricDistance () const
	Check if the distance function on this state space is symmetric, i.e. distance(s1,s2) = distance(s2,s1). Default implementation returns true.

virtual bool	hasSymmetricInterpolate () const
	Check if the interpolation function on this state space is symmetric, i.e. interpolate(from, to, t, state) = interpolate(to, from, 1-t, state). Default implementation returns true.

const std::string &	getName () const
	Get the name of the state space.

void	setName (const std::string &name)
	Set the name of the state space.

int	getType () const
	Get the type of the state space. The type can be used to verify whether two space instances are of the same type (e.g., SO2)

bool	includes (const StateSpacePtr &other) const
	Return true if other is a space included (perhaps equal, perhaps a subspace) in this one.

bool	includes (const StateSpace *other) const
	Return true if other is a space included (perhaps equal, perhaps a subspace) in this one.

bool	covers (const StateSpacePtr &other) const
	Return true if other is a space that is either included (perhaps equal, perhaps a subspace) in this one, or all of its subspaces are included in this one.

bool	covers (const StateSpace *other) const
	Return true if other is a space that is either included (perhaps equal, perhaps a subspace) in this one, or all of its subspaces are included in this one.

ParamSet &	params ()
	Get the parameters for this space.

const ParamSet &	params () const
	Get the parameters for this space.

virtual double	getLongestValidSegmentFraction () const
	When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function returns this length, for this state space, as a fraction of the space's maximum extent.

virtual void	setValidSegmentCountFactor (unsigned int factor)
	Set factor to be the value to multiply the return value of validSegmentCount(). By default, this value is 1. The higher the value, the smaller the size of the segments considered valid. The effect of this function is immediate (setup() does not need to be called).

virtual unsigned int	getValidSegmentCountFactor () const
	Get the value used to multiply the return value of validSegmentCount().

virtual double	getLongestValidSegmentLength () const
	Get the longest valid segment at the time setup() was called.

virtual void	computeSignature (std::vector< int > &signature) const
	Compute an array of ints that uniquely identifies the structure of the state space. The first element of the signature is the number of integers that follow.

State *	cloneState (const State *source) const
	Clone a state.

void	setStateSamplerAllocator (const StateSamplerAllocator &ssa)
	Set the sampler allocator to use.

void	clearStateSamplerAllocator ()
	Clear the state sampler allocator (reset to default)

const double *	getValueAddressAtIndex (const State *state, unsigned int index) const
	Const variant of the same function as above;.

const std::vector< ValueLocation > &	getValueLocations () const
	Get the locations of values of type double contained in a state from this space. The order of the values is consistent with getValueAddressAtIndex(). The setup() function must have been previously called.

const std::map< std::string, ValueLocation > &	getValueLocationsByName () const
	Get the named locations of values of type double contained in a state from this space. The setup() function must have been previously called.

double *	getValueAddressAtLocation (State *state, const ValueLocation &loc) const
	Get a pointer to the double value in state that loc points to.

const double *	getValueAddressAtLocation (const State *state, const ValueLocation &loc) const
	Const variant of the same function as above;.

double *	getValueAddressAtName (State *state, const std::string &name) const
	Get a pointer to the double value in state that name points to.

const double *	getValueAddressAtName (const State *state, const std::string &name) const
	Const variant of the same function as above;.

virtual void	copyToReals (std::vector< double > &reals, const State *source) const
	Copy all the real values from a state source to the array reals using getValueAddressAtLocation()

virtual void	copyFromReals (State *destination, const std::vector< double > &reals) const
	Copy the values from reals to the state destination using getValueAddressAtLocation()

void	registerProjection (const std::string &name, const ProjectionEvaluatorPtr &projection)
	Register a projection for this state space under a specified name.

void	registerDefaultProjection (const ProjectionEvaluatorPtr &projection)
	Register the default projection for this state space.

virtual void	registerProjections ()
	Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by setup().

ProjectionEvaluatorPtr	getProjection (const std::string &name) const
	Get the projection registered under a specific name.

ProjectionEvaluatorPtr	getDefaultProjection () const
	Get the default projection.

bool	hasProjection (const std::string &name) const
	Check if a projection with a specified name is available.

bool	hasDefaultProjection () const
	Check if a default projection is available.

const std::map< std::string, ProjectionEvaluatorPtr > &	getRegisteredProjections () const
	Get all the registered projections.

StateSamplerPtr	allocSubspaceStateSampler (const StateSpacePtr &subspace) const
	Allocate a sampler that actually samples only components that are part of subspace.

State *	getSubstateAtLocation (State *state, const SubstateLocation &loc) const
	Get the substate of state that is pointed to by loc.

const State *	getSubstateAtLocation (const State *state, const SubstateLocation &loc) const
	Get the substate of state that is pointed to by loc.

const std::map< std::string, SubstateLocation > &	getSubstateLocationsByName () const
	Get the list of known substate locations (keys of the map corrspond to names of subspaces)

void	getCommonSubspaces (const StateSpacePtr &other, std::vector< std::string > &subspaces) const
	Get the set of subspaces that this space and other have in common. The computed list of subspaces does not contain spaces that cover each other, even though they may be common, as that is redundant information.

void	getCommonSubspaces (const StateSpace *other, std::vector< std::string > &subspaces) const
	Get the set of subspaces that this space and other have in common. The computed list of subspaces does not contain spaces that cover each other, even though they may be common, as that is redundant information.

virtual void	printProjections (std::ostream &out) const
	Print the list of registered projections. This function is also called by printSettings()

virtual void	sanityChecks (double zero, double eps, unsigned int flags) const
	Perform sanity checks for this state space. Throws an exception if failures are found. More...

virtual void	sanityChecks () const
	Convenience function that allows derived state spaces to choose which checks should pass (see SanityChecks flags) and how strict the checks are. This just calls sanityChecks() with some default arguments.

void	diagram (std::ostream &out) const
	Print a Graphviz digraph that represents the containment diagram for the state space.

void	list (std::ostream &out) const
	Print the list of all contained state space instances.

Protected Attributes
OpenDEEnvironmentPtr	env_
	Representation of the OpenDE parameters OMPL needs to plan.

Protected Attributes inherited from ompl::base::CompoundStateSpace
std::vector< StateSpacePtr >	components_
	The state spaces that make up the compound state space.

unsigned int	componentCount_ {0u}
	The number of components.

std::vector< double >	weights_
	The weight assigned to each component of the state space when computing the compound distance.

double	weightSum_ {0.0}
	The sum of all the weights in weights_.

bool	locked_ {false}
	Flag indicating whether adding further components is allowed or not.

Protected Attributes inherited from ompl::base::StateSpace
int	type_
	A type assigned for this state space.

StateSamplerAllocator	ssa_
	An optional state sampler allocator.

double	maxExtent_
	The extent of this space at the time setup() was called.

double	longestValidSegmentFraction_
	The fraction of the longest valid segment.

double	longestValidSegment_
	The longest valid segment at the time setup() was called.

unsigned int	longestValidSegmentCountFactor_
	The factor to multiply the value returned by validSegmentCount(). Rarely used but useful for things like doubling the resolution.

std::map< std::string, ProjectionEvaluatorPtr >	projections_
	List of available projections.

ParamSet	params_
	The set of parameters for this space.

std::vector< ValueLocation >	valueLocationsInOrder_
	The value locations for all varliables of type double contained in a state; The locations point to values in the same order as that returned by getValueAddressAtIndex()

std::map< std::string, ValueLocation >	valueLocationsByName_
	All the known value locations, by name. The names of state spaces access the first element of a state. RealVectorStateSpace dimensions are used to access individual dimensions.

std::map< std::string, SubstateLocation >	substateLocationsByName_
	All the known substat locations, by name.

Additional Inherited Members
Static Public Member Functions inherited from ompl::base::StateSpace
static void	Diagram (std::ostream &out)
	Print a Graphviz digraph that represents the containment diagram for all the instantiated state spaces.

static void	List (std::ostream &out)
	Print the list of available state space instances.

Protected Member Functions inherited from ompl::base::CompoundStateSpace
void	allocStateComponents (CompoundState *state) const
	Allocate the state components. Called by allocState(). Usually called by derived state spaces.

Static Protected Attributes inherited from ompl::base::StateSpace
static const std::string	DEFAULT_PROJECTION_NAME = ""
	The name used for the default projection.

Detailed Description

State space representing OpenDE states.

Definition at line 114 of file OpenDEStateSpace.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
STATE_COLLISION_KNOWN_BIT	Index of bit in StateType::collision indicating whether it is known if a state is in collision or not. Initially this is 0. The value of this bit is updated by OpenDEStateSpace::evaluateCollision() and OpenDEControlSpace::propagate().
STATE_COLLISION_VALUE_BIT	Index of bit in StateType::collision indicating whether a state is in collision or not. Initially the value of this field is unspecified. The value gains meaning (1 or 0) when OpenDEStateSpace::STATE_COLLISION_KNOWN_BIT becomes 1. The value of this bit is updated by OpenDEStateSpace::evaluateCollision() and OpenDEControlSpace::propagate(). A value of 1 implies that there is no collision for which OpenDEEnvironment::isValidCollision() returns false.
STATE_VALIDITY_KNOWN_BIT	Index of bit in StateType::collision indicating whether it is known if a state is in valid or not. Initially this is 0. The value of this bit is updated by OpenDEStateValidityChecker::isValid(). This bit is only used if the OpenDEStateValidityChecker is used.
STATE_VALIDITY_VALUE_BIT	Index of bit in StateType::collision indicating whether a state is valid or not. Initially the value of this field is unspecified. The value gains meaning (1 or 0) when OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT becomes 1. The value of this bit is updated by OpenDEEnvironment::isValid(). A value of 1 implies that a state is valid. This bit is only used if the OpenDEStateValidityChecker is used.

Definition at line 149 of file OpenDEStateSpace.h.

Constructor & Destructor Documentation

◆ OpenDEStateSpace()

ompl::control::OpenDEStateSpace::OpenDEStateSpace	(	OpenDEEnvironmentPtr	env,
		double	positionWeight = `1.0`,
		double	linVelWeight = `0.5`,
		double	angVelWeight = `0.5`,
		double	orientationWeight = `1.0`
	)

Construct a state space representing OpenDE states.

This will be a compound state space with 4 components for each body in env.stateBodies_. The 4 subspaces constructed for each body are: position (R³), linear velocity (R³), angular velocity (R³) and orientation (SO(3)). Default bounds are set by calling setDefaultBounds().

Parameters

env	the environment to construct the state space for
positionWeight	the weight to pass to CompoundStateSpace::addSubspace() for position subspaces
linVelWeight	the weight to pass to CompoundStateSpace::addSubspace() for linear velocity subspaces
angVelWeight	the weight to pass to CompoundStateSpace::addSubspace() for angular velocity subspaces
orientationWeight	the weight to pass to CompoundStateSpace::addSubspace() for orientation subspaces

Definition at line 43 of file OpenDEStateSpace.cpp.

Member Function Documentation

◆ copyState()

void ompl::control::OpenDEStateSpace::copyState	(	base::State *	destination,
		const base::State *	source
	)		const

overridevirtual

Copy a state to another. The memory of source and destination should NOT overlap.

Note: For more advanced state copying methods (partial copy, for example), see Advanced methods for copying states.

Reimplemented from ompl::base::CompoundStateSpace.

Definition at line 156 of file OpenDEStateSpace.cpp.

The documentation for this class was generated from the following files:

ompl/extensions/ode/OpenDEStateSpace.h
ompl/extensions/ode/src/OpenDEStateSpace.cpp

Classes

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members