RealVectorStateProjections.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/RealVectorStateProjections.h"
38 #include "ompl/util/Exception.h"
39 #include "ompl/tools/config/MagicConstants.h"
40 #include <cstring>
41 #include <utility>
42 
44 namespace ompl
45 {
46  namespace base
47  {
48  static inline void checkSpaceType(const StateSpace *m)
49  {
50  if (dynamic_cast<const RealVectorStateSpace *>(m) == nullptr)
51  throw Exception("Expected real vector state space for projection");
52  }
53  }
54 }
56 
58  const StateSpace *space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection)
59  : ProjectionEvaluator(space)
60 {
61  checkSpaceType(space_);
62  projection_.mat = projection;
63  setCellSizes(cellSizes);
64 }
65 
67  const StateSpacePtr &space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection)
68  : ProjectionEvaluator(space)
69 {
70  checkSpaceType(space_);
71  projection_.mat = projection;
72  setCellSizes(cellSizes);
73 }
74 
76  const StateSpace *space, const ProjectionMatrix::Matrix &projection)
77  : ProjectionEvaluator(space)
78 {
79  checkSpaceType(space_);
80  projection_.mat = projection;
81 }
82 
84  const StateSpacePtr &space, const ProjectionMatrix::Matrix &projection)
85  : ProjectionEvaluator(space)
86 {
87  checkSpaceType(space_);
88  projection_.mat = projection;
89 }
90 
92  const StateSpace *space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)
93  : ProjectionEvaluator(space), components_(std::move(components))
94 {
95  checkSpaceType(space_);
96  setCellSizes(cellSizes);
97  copyBounds();
98 }
99 
101  const StateSpacePtr &space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)
102  : ProjectionEvaluator(space), components_(std::move(components))
103 {
104  checkSpaceType(space_);
105  setCellSizes(cellSizes);
106  copyBounds();
107 }
108 
110  const StateSpace *space, std::vector<unsigned int> components)
111  : ProjectionEvaluator(space), components_(std::move(components))
112 {
113  checkSpaceType(space_);
114 }
115 
117  const StateSpacePtr &space, std::vector<unsigned int> components)
118  : ProjectionEvaluator(space), components_(std::move(components))
119 {
120  checkSpaceType(space_);
121 }
122 
124 {
125  bounds_.resize(components_.size());
126  const RealVectorBounds &bounds = space_->as<RealVectorStateSpace>()->getBounds();
127  for (unsigned int i = 0; i < components_.size(); ++i)
128  {
129  bounds_.low[i] = bounds.low[components_[i]];
130  bounds_.high[i] = bounds.high[components_[i]];
131  }
132 }
133 
135 {
136  const RealVectorBounds &bounds = space_->as<RealVectorStateSpace>()->getBounds();
137  bounds_.resize(components_.size());
138  cellSizes_.resize(components_.size());
139  for (unsigned int i = 0; i < cellSizes_.size(); ++i)
140  {
141  bounds_.low[i] = bounds.low[components_[i]];
142  bounds_.high[i] = bounds.high[components_[i]];
143  cellSizes_[i] = (bounds_.high[i] - bounds_.low[i]) / magic::PROJECTION_DIMENSION_SPLITS;
144  }
145 }
146 
148 {
149  return projection_.mat.size1();
150 }
151 
153 {
154  projection_.project(state->as<RealVectorStateSpace::StateType>()->values, projection);
155 }
156 
158 {
159  return components_.size();
160 }
161 
163  EuclideanProjection &projection) const
164 {
165  for (unsigned int i = 0; i < components_.size(); ++i)
166  projection(i) = state->as<RealVectorStateSpace::StateType>()->values[components_[i]];
167 }
168 
170  const StateSpace *space, const std::vector<double> &cellSizes)
171  : ProjectionEvaluator(space)
172 {
173  checkSpaceType(space_);
174  setCellSizes(cellSizes);
175  copyBounds();
176 }
177 
179  : ProjectionEvaluator(space)
180 {
181  checkSpaceType(space_);
182 }
183 
185  const StateSpacePtr &space, const std::vector<double> &cellSizes)
186  : ProjectionEvaluator(space)
187 {
188  checkSpaceType(space_);
189  setCellSizes(cellSizes);
190  copyBounds();
191 }
192 
194  : ProjectionEvaluator(space)
195 {
196  checkSpaceType(space_);
197 }
198 
199 void ompl::base::RealVectorIdentityProjectionEvaluator::copyBounds()
200 {
201  bounds_ = space_->as<RealVectorStateSpace>()->getBounds();
202 }
203 
205 {
206  bounds_ = space_->as<RealVectorStateSpace>()->getBounds();
207  cellSizes_.resize(getDimension());
208  for (unsigned int i = 0; i < cellSizes_.size(); ++i)
209  cellSizes_[i] = (bounds_.high[i] - bounds_.low[i]) / magic::PROJECTION_DIMENSION_SPLITS;
210 }
211 
213 {
214  copySize_ = getDimension() * sizeof(double);
216 }
217 
219 {
220  return space_->getDimension();
221 }
222 
224  EuclideanProjection &projection) const
225 {
226  memcpy(&projection(0), state->as<RealVectorStateSpace::StateType>()->values, copySize_);
227 }
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:134
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
ProjectionMatrix projection_
The projection matrix.
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
Definition of an abstract state.
Definition: State.h:113
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
std::vector< double > low
Lower bound.
virtual void setCellSizes(const std::vector< double > &cellSizes)
Define the size (in each dimension) of a grid cell. The number of sizes set here must be the same as ...
double * values
The value of the actual vector in Rn
RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes, const ProjectionMatrix::Matrix &projection)
Initialize a linear projection evaluator for state space space. The used projection matrix is project...
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
const T * as() const
Cast this instance to a desired type.
Definition: State.h:162
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function is e...
A state space representing Rn. The distance function is the L2 norm.
std::vector< double > high
Upper bound.
The definition of a state in Rn
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
virtual void setup()
Perform configuration steps, if needed.
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
void setup() override
Perform configuration steps, if needed.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function is e...
A shared pointer wrapper for ompl::base::StateSpace.
RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes, std::vector< unsigned int > components)
Initialize an orthogonal projection evaluator for state space space. The indices of the kept componen...
boost::numeric::ublas::matrix< double > Matrix
Datatype for projection matrices.
const StateSpace * space_
The state space this projection operates on.
void copyBounds()
Fill bounds_ with bounds from the state space.
RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes)
Initialize the identity projection evaluator for state space space. The indices of the kept component...
Matrix mat
Projection matrix.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
The lower and upper bounds for an Rn space.