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RealVectorStateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
38 #define OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorBounds.h"
42 #include <vector>
43 #include <string>
44 #include <map>
45 
46 namespace ompl
47 {
48  namespace base
49  {
50 
53  {
54  public:
55 
58  {
59  }
60 
61  virtual void sampleUniform(State *state);
62  virtual void sampleUniformNear(State *state, const State *near, const double distance);
63  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
64  };
65 
68  {
69  public:
70 
72  class StateType : public State
73  {
74  public:
75  StateType(void) : State()
76  {
77  }
78 
81  double operator[](unsigned int i) const
82  {
83  return values[i];
84  }
85 
88  double& operator[](unsigned int i)
89  {
90  return values[i];
91  }
92 
94  double *values;
95  };
96 
99  RealVectorStateSpace(unsigned int dim = 0) : StateSpace(), dimension_(dim), bounds_(dim), stateBytes_(dim * sizeof(double))
100  {
102  setName("RealVector" + getName());
103  dimensionNames_.resize(dim, "");
104  }
105 
106  virtual ~RealVectorStateSpace(void)
107  {
108  }
109 
111  void addDimension(double minBound = 0.0, double maxBound = 0.0);
112 
114  void addDimension(const std::string &name, double minBound = 0.0, double maxBound = 0.0);
115 
118  void setBounds(const RealVectorBounds &bounds);
119 
122  void setBounds(double low, double high);
123 
125  const RealVectorBounds& getBounds(void) const
126  {
127  return bounds_;
128  }
129 
130  virtual unsigned int getDimension(void) const;
131 
134  const std::string& getDimensionName(unsigned int index) const;
135 
137  int getDimensionIndex(const std::string &name) const;
138 
140  void setDimensionName(unsigned int index, const std::string &name);
141 
142  virtual double getMaximumExtent(void) const;
143 
144  virtual void enforceBounds(State *state) const;
145 
146  virtual bool satisfiesBounds(const State *state) const;
147 
148  virtual void copyState(State *destination, const State *source) const;
149 
150  virtual unsigned int getSerializationLength(void) const;
151 
152  virtual void serialize(void *serialization, const State *state) const;
153 
154  virtual void deserialize(State *state, const void *serialization) const;
155 
156  virtual double distance(const State *state1, const State *state2) const;
157 
158  virtual bool equalStates(const State *state1, const State *state2) const;
159 
160  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
161 
162  virtual StateSamplerPtr allocDefaultStateSampler(void) const;
163 
164  virtual State* allocState(void) const;
165 
166  virtual void freeState(State *state) const;
167 
168  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
169 
170  virtual void printState(const State *state, std::ostream &out) const;
171 
172  virtual void printSettings(std::ostream &out) const;
173 
174  virtual void registerProjections(void);
175 
176  virtual void setup(void);
177 
178  protected:
179 
181  unsigned int dimension_;
182 
185 
187  std::vector<std::string> dimensionNames_;
188 
190  std::map<std::string, unsigned int> dimensionIndex_;
191 
192  private:
193 
195  std::size_t stateBytes_;
196 
197  };
198  }
199 }
200 
201 #endif