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TimeStateSpace.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/spaces/TimeStateSpace.h"
38#include "ompl/util/Exception.h"
39#include "ompl/tools/config/MagicConstants.h"
40#include <limits>
41
43{
45 state->as<TimeStateSpace::StateType>()->position = rng_.uniformReal(
46 space_->as<TimeStateSpace>()->getMinTimeBound(), space_->as<TimeStateSpace>()->getMaxTimeBound());
47 else
48 state->as<TimeStateSpace::StateType>()->position = 0.0;
49}
50
51void ompl::base::TimeStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
52{
53 state->as<TimeStateSpace::StateType>()->position =
54 rng_.uniformReal(near->as<TimeStateSpace::StateType>()->position - distance,
55 near->as<TimeStateSpace::StateType>()->position + distance);
56 space_->enforceBounds(state);
57}
58
59void ompl::base::TimeStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
60{
61 state->as<TimeStateSpace::StateType>()->position =
62 rng_.gaussian(mean->as<TimeStateSpace::StateType>()->position, stdDev);
63 space_->enforceBounds(state);
64}
65
67{
68 return 1;
69}
70
71void ompl::base::TimeStateSpace::setBounds(double minTime, double maxTime)
72{
73 if (minTime > maxTime)
74 throw Exception("The maximum position in time cannot be before the minimum position in time");
75
76 minTime_ = minTime;
77 maxTime_ = maxTime;
78 bounded_ = true;
79}
80
82{
83 return bounded_ ? maxTime_ - minTime_ : 1.0;
84}
85
87{
88 return getMaximumExtent();
89}
90
92{
93 if (bounded_)
94 {
95 if (state->as<StateType>()->position > maxTime_)
96 state->as<StateType>()->position = maxTime_;
97 else if (state->as<StateType>()->position < minTime_)
98 state->as<StateType>()->position = minTime_;
99 }
100}
101
103{
104 return !bounded_ || (state->as<StateType>()->position >= minTime_ - std::numeric_limits<double>::epsilon() &&
105 state->as<StateType>()->position <= maxTime_ + std::numeric_limits<double>::epsilon());
106}
107
108void ompl::base::TimeStateSpace::copyState(State *destination, const State *source) const
109{
110 destination->as<StateType>()->position = source->as<StateType>()->position;
111}
112
114{
115 return sizeof(double);
116}
117
118void ompl::base::TimeStateSpace::serialize(void *serialization, const State *state) const
119{
120 memcpy(serialization, &state->as<StateType>()->position, sizeof(double));
121}
122
123void ompl::base::TimeStateSpace::deserialize(State *state, const void *serialization) const
124{
125 memcpy(&state->as<StateType>()->position, serialization, sizeof(double));
126}
127
128double ompl::base::TimeStateSpace::distance(const State *state1, const State *state2) const
129{
130 return fabs(state1->as<StateType>()->position - state2->as<StateType>()->position);
131}
132
133bool ompl::base::TimeStateSpace::equalStates(const State *state1, const State *state2) const
134{
135 return fabs(state1->as<StateType>()->position - state2->as<StateType>()->position) <
136 std::numeric_limits<double>::epsilon() * 2.0;
137}
138
139void ompl::base::TimeStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
140{
141 state->as<StateType>()->position =
142 from->as<StateType>()->position + (to->as<StateType>()->position - from->as<StateType>()->position) * t;
143}
144
146{
147 return std::make_shared<TimeStateSampler>(this);
148}
149
151{
152 return new StateType();
153}
154
156{
157 delete static_cast<StateType *>(state);
158}
159
161{
162 class TimeDefaultProjection : public ProjectionEvaluator
163 {
164 public:
165 TimeDefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
166 {
167 }
168
169 unsigned int getDimension() const override
170 {
171 return 1;
172 }
173
174 void defaultCellSizes() override
175 {
176 cellSizes_.resize(1);
177 if (space_->as<TimeStateSpace>()->isBounded())
178 {
179 bounds_.resize(1);
180 bounds_.low[0] = space_->as<TimeStateSpace>()->getMinTimeBound();
181 bounds_.high[0] = space_->as<TimeStateSpace>()->getMaxTimeBound();
182 cellSizes_[0] = bounds_.getDifference()[0] / magic::PROJECTION_DIMENSION_SPLITS;
183 }
184 else
185 cellSizes_[0] = 1.0;
186 }
187
188 void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override
189 {
190 projection(0) = state->as<TimeStateSpace::StateType>()->position;
191 }
192 };
193
194 registerDefaultProjection(std::make_shared<TimeDefaultProjection>(this));
195}
196
197double *ompl::base::TimeStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
198{
199 return index == 0 ? &(state->as<StateType>()->position) : nullptr;
200}
201
202void ompl::base::TimeStateSpace::printState(const State *state, std::ostream &out) const
203{
204 out << "TimeState [";
205 if (state != nullptr)
206 out << state->as<StateType>()->position;
207 else
208 out << "nullptr";
209 out << ']' << std::endl;
210}
211
212void ompl::base::TimeStateSpace::printSettings(std::ostream &out) const
213{
214 out << "Time state space '" << getName() << "'" << std::endl;
215}
The exception type for ompl.
Definition: Exception.h:47
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:73
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
A shared pointer wrapper for ompl::base::StateSampler.
RNG rng_
An instance of a random number generator.
Definition: StateSampler.h:107
const StateSpace * space_
The state space this sampler samples.
Definition: StateSampler.h:104
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
T * as()
Cast this instance to a desired type.
Definition: StateSpace.h:87
Definition of an abstract state.
Definition: State.h:50
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
void sampleUniform(State *state) override
Sample a state.
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
The definition of a time state.
double position
The position in time.
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op,...
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
bool isBounded() const
Check if the time is bounded or not.
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void interpolate(const State *from, const State *to, double t, 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....
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
void freeState(State *state) const override
Free the memory of the allocated state.
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 addre...
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
State * allocState() const override
Allocate a state that can store a point in the described space.
double getMinTimeBound() const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded.
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
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 isMetricS...
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-...