37 #include "ompl/base/spaces/TimeStateSpace.h"
38 #include "ompl/util/Exception.h"
39 #include "ompl/tools/config/MagicConstants.h"
56 space_->enforceBounds(state);
63 space_->enforceBounds(state);
73 if (minTime > maxTime)
74 throw Exception(
"The maximum position in time cannot be before the minimum position in time");
83 return bounded_ ? maxTime_ - minTime_ : 1.0;
100 return !bounded_ || (state->
as<
StateType>()->position >= minTime_ - std::numeric_limits<double>::epsilon() &&
101 state->
as<
StateType>()->position <= maxTime_ + std::numeric_limits<double>::epsilon());
111 return sizeof(double);
165 virtual unsigned int getDimension(
void)
const
170 virtual void defaultCellSizes(
void)
172 cellSizes_.resize(1);
177 bounds_.high[0] = space_->as<
TimeStateSpace>()->getMaxTimeBound();
190 registerDefaultProjection(
ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(
new TimeDefaultProjection(
this))));
195 return index == 0 ? &(state->
as<
StateType>()->position) : NULL;
200 out <<
"TimeState [";
205 out <<
']' << std::endl;
210 out <<
"Time state space '" << getName() <<
"'" << std::endl;
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
const StateSpace * space_
The state space this sampler samples.
virtual void freeState(State *state) const
Free the memory of the allocated state.
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void enforceBounds(State *state) const
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
A boost shared pointer wrapper for ompl::base::StateSampler.
RNG rng_
An instance of a random number generator.
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
bool isBounded(void) const
Check if the time is bounded or not.
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
The definition of a time state.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
const T * as(void) const
Cast this instance to a desired type.
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
double getMinTimeBound(void) const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
State space sampler for time.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
virtual double * getValueAddressAtIndex(State *state, const unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition of an abstract state.
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
The exception type for ompl.
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
virtual void sampleUniform(State *state)
Sample a state.
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
double position
The position in time.
T * as(void)
Cast this instance to a desired type.
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.