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RealVectorStateSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/RealVectorStateSpace.h"
38 #include "ompl/base/spaces/RealVectorStateProjections.h"
39 #include "ompl/util/Exception.h"
40 #include <boost/lexical_cast.hpp>
41 #include <algorithm>
42 #include <cstring>
43 #include <limits>
44 #include <cmath>
45 
47 {
48  const unsigned int dim = space_->getDimension();
49  const RealVectorBounds &bounds = static_cast<const RealVectorStateSpace*>(space_)->getBounds();
50 
52  for (unsigned int i = 0 ; i < dim ; ++i)
53  rstate->values[i] = rng_.uniformReal(bounds.low[i], bounds.high[i]);
54 }
55 
56 void ompl::base::RealVectorStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
57 {
58  const unsigned int dim = space_->getDimension();
59  const RealVectorBounds &bounds = static_cast<const RealVectorStateSpace*>(space_)->getBounds();
60 
62  const RealVectorStateSpace::StateType *rnear = static_cast<const RealVectorStateSpace::StateType*>(near);
63  for (unsigned int i = 0 ; i < dim ; ++i)
64  rstate->values[i] =
65  rng_.uniformReal(std::max(bounds.low[i], rnear->values[i] - distance),
66  std::min(bounds.high[i], rnear->values[i] + distance));
67 }
68 
69 void ompl::base::RealVectorStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
70 {
71  const unsigned int dim = space_->getDimension();
72  const RealVectorBounds &bounds = static_cast<const RealVectorStateSpace*>(space_)->getBounds();
73 
75  const RealVectorStateSpace::StateType *rmean = static_cast<const RealVectorStateSpace::StateType*>(mean);
76  for (unsigned int i = 0 ; i < dim ; ++i)
77  {
78  double v = rng_.gaussian(rmean->values[i], stdDev);
79  if (v < bounds.low[i])
80  v = bounds.low[i];
81  else
82  if (v > bounds.high[i])
83  v = bounds.high[i];
84  rstate->values[i] = v;
85  }
86 }
87 
89 {
90  // compute a default random projection
91  if (dimension_ > 0)
92  {
93  if (dimension_ > 2)
94  {
95  int p = std::max(2, (int)ceil(log((double)dimension_)));
96  registerDefaultProjection(ProjectionEvaluatorPtr(new RealVectorRandomLinearProjectionEvaluator(this, p)));
97  }
98  else
99  registerDefaultProjection(ProjectionEvaluatorPtr(new RealVectorIdentityProjectionEvaluator(this)));
100  }
101 }
102 
104 {
105  bounds_.check();
107 }
108 
109 void ompl::base::RealVectorStateSpace::addDimension(const std::string &name, double minBound, double maxBound)
110 {
111  addDimension(minBound, maxBound);
112  setDimensionName(dimension_ - 1, name);
113 }
114 
115 void ompl::base::RealVectorStateSpace::addDimension(double minBound, double maxBound)
116 {
117  dimension_++;
118  stateBytes_ = dimension_ * sizeof(double);
119  bounds_.low.push_back(minBound);
120  bounds_.high.push_back(maxBound);
121  dimensionNames_.resize(dimension_, "");
122 }
123 
125 {
126  bounds.check();
127  if (bounds.low.size() != dimension_)
128  throw Exception("Bounds do not match dimension of state space: expected dimension " +
129  boost::lexical_cast<std::string>(dimension_) + " but got dimension " +
130  boost::lexical_cast<std::string>(bounds.low.size()));
131  bounds_ = bounds;
132 }
133 
134 void ompl::base::RealVectorStateSpace::setBounds(double low, double high)
135 {
136  RealVectorBounds bounds(dimension_);
137  bounds.setLow(low);
138  bounds.setHigh(high);
139  setBounds(bounds);
140 }
141 
143 {
144  return dimension_;
145 }
146 
147 const std::string& ompl::base::RealVectorStateSpace::getDimensionName(unsigned int index) const
148 {
149  if (index < dimensionNames_.size())
150  return dimensionNames_[index];
151  throw Exception("Index out of bounds");
152 }
153 
154 int ompl::base::RealVectorStateSpace::getDimensionIndex(const std::string &name) const
155 {
156  std::map<std::string, unsigned int>::const_iterator it = dimensionIndex_.find(name);
157  return it != dimensionIndex_.end() ? (int)it->second : -1;
158 }
159 
160 void ompl::base::RealVectorStateSpace::setDimensionName(unsigned int index, const std::string &name)
161 {
162  if (index < dimensionNames_.size())
163  {
164  dimensionNames_[index] = name;
165  dimensionIndex_[name] = index;
166  }
167  else
168  throw Exception("Cannot set dimension name. Index out of bounds");
169 }
170 
172 {
173  double e = 0.0;
174  for (unsigned int i = 0 ; i < dimension_ ; ++i)
175  {
176  double d = bounds_.high[i] - bounds_.low[i];
177  e += d*d;
178  }
179  return sqrt(e);
180 }
181 
183 {
184  StateType *rstate = static_cast<StateType*>(state);
185  for (unsigned int i = 0 ; i < dimension_ ; ++i)
186  {
187  if (rstate->values[i] > bounds_.high[i])
188  rstate->values[i] = bounds_.high[i];
189  else
190  if (rstate->values[i] < bounds_.low[i])
191  rstate->values[i] = bounds_.low[i];
192  }
193 }
194 
196 {
197  const StateType *rstate = static_cast<const StateType*>(state);
198  for (unsigned int i = 0 ; i < dimension_ ; ++i)
199  if (rstate->values[i] - std::numeric_limits<double>::epsilon() > bounds_.high[i] ||
200  rstate->values[i] + std::numeric_limits<double>::epsilon() < bounds_.low[i])
201  return false;
202  return true;
203 }
204 
205 void ompl::base::RealVectorStateSpace::copyState(State *destination, const State *source) const
206 {
207  memcpy(static_cast<StateType*>(destination)->values,
208  static_cast<const StateType*>(source)->values, stateBytes_);
209 }
210 
212 {
213  return stateBytes_;
214 }
215 
216 void ompl::base::RealVectorStateSpace::serialize(void *serialization, const State *state) const
217 {
218  memcpy(serialization, state->as<StateType>()->values, stateBytes_);
219 }
220 
221 void ompl::base::RealVectorStateSpace::deserialize(State *state, const void *serialization) const
222 {
223  memcpy(state->as<StateType>()->values, serialization, stateBytes_);
224 }
225 
226 double ompl::base::RealVectorStateSpace::distance(const State *state1, const State *state2) const
227 {
228  double dist = 0.0;
229  const double *s1 = static_cast<const StateType*>(state1)->values;
230  const double *s2 = static_cast<const StateType*>(state2)->values;
231 
232  for (unsigned int i = 0 ; i < dimension_ ; ++i)
233  {
234  double diff = (*s1++) - (*s2++);
235  dist += diff * diff;
236  }
237  return sqrt(dist);
238 }
239 
240 bool ompl::base::RealVectorStateSpace::equalStates(const State *state1, const State *state2) const
241 {
242  const double *s1 = static_cast<const StateType*>(state1)->values;
243  const double *s2 = static_cast<const StateType*>(state2)->values;
244  for (unsigned int i = 0 ; i < dimension_ ; ++i)
245  {
246  double diff = (*s1++) - (*s2++);
247  if (fabs(diff) > std::numeric_limits<double>::epsilon() * 2.0)
248  return false;
249  }
250  return true;
251 }
252 
253 void ompl::base::RealVectorStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
254 {
255  const StateType *rfrom = static_cast<const StateType*>(from);
256  const StateType *rto = static_cast<const StateType*>(to);
257  const StateType *rstate = static_cast<StateType*>(state);
258  for (unsigned int i = 0 ; i < dimension_ ; ++i)
259  rstate->values[i] = rfrom->values[i] + (rto->values[i] - rfrom->values[i]) * t;
260 }
261 
263 {
264  return StateSamplerPtr(new RealVectorStateSampler(this));
265 }
266 
268 {
269  StateType *rstate = new StateType();
270  rstate->values = new double[dimension_];
271  return rstate;
272 }
273 
275 {
276  StateType *rstate = static_cast<StateType*>(state);
277  delete[] rstate->values;
278  delete rstate;
279 }
280 
281 double* ompl::base::RealVectorStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
282 {
283  return index < dimension_ ? static_cast<StateType*>(state)->values + index : NULL;
284 }
285 
286 void ompl::base::RealVectorStateSpace::printState(const State *state, std::ostream &out) const
287 {
288  out << "RealVectorState [";
289  if (state)
290  {
291  const StateType *rstate = static_cast<const StateType*>(state);
292  for (unsigned int i = 0 ; i < dimension_ ; ++i)
293  {
294  out << rstate->values[i];
295  if (i + 1 < dimension_)
296  out << ' ';
297  }
298  }
299  else
300  out << "NULL" << std::endl;
301  out << ']' << std::endl;
302 }
303 
305 {
306  out << "Real vector state space '" << getName() << "' of dimension " << dimension_ << " with bounds: " << std::endl;
307  out << " - min: ";
308  for (unsigned int i = 0 ; i < dimension_ ; ++i)
309  out << bounds_.low[i] << " ";
310  out << std::endl;
311  out << " - max: ";
312  for (unsigned int i = 0 ; i < dimension_ ; ++i)
313  out << bounds_.high[i] << " ";
314  out << std::endl;
315 
316  bool printNames = false;
317  for (unsigned int i = 0 ; i < dimension_ ; ++i)
318  if (!dimensionNames_[i].empty())
319  printNames = true;
320  if (printNames)
321  {
322  out << " and dimension names: ";
323  for (unsigned int i = 0 ; i < dimension_ ; ++i)
324  out << "'" << dimensionNames_[i] << "' ";
325  out << std::endl;
326  }
327 }
int getDimensionIndex(const std::string &name) const
Get the index of a specific dimension, by name. Return -1 if name is not found.
const StateSpace * space_
The state space this sampler samples.
Definition: StateSampler.h:91
State sampler for the Rn state space.
virtual void setup(void)
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.
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 log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:104
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.
std::vector< double > low
Lower bound.
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
A boost shared pointer wrapper for ompl::base::StateSampler.
RNG rng_
An instance of a random number generator.
Definition: StateSampler.h:94
virtual unsigned int getDimension(void) const =0
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
const std::string & getDimensionName(unsigned int index) const
Each dimension can optionally have a name associated to it. If it does, this function returns that na...
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance, near[i]+distance]. If this interval exceeds the state space bounds, the interval is truncated.
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
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-...
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
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...
Definition for a class computing a random linear projections.
const T * as(void) const
Cast this instance to a desired type.
Definition: State.h:74
virtual void freeState(State *state) const
Free the memory of the allocated state.
void setLow(double value)
Set the lower bound in each dimension to a specific value.
void setHigh(double value)
Set the upper bound in each dimension to a specific value.
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
std::vector< double > high
Upper bound.
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:68
A state space representing Rn. The distance function is the L2 norm.
Definition of an abstract state.
Definition: State.h:50
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and st...
void setDimensionName(unsigned int index, const std::string &name)
Set the name of a dimension.
void check(void) const
Check if the bounds are valid (same length for low and high, high[i] > low[i]). Throw an exception if...
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
The exception type for ompl.
Definition: Exception.h:47
The lower and upper bounds for an Rn space.
double * values
The value of the actual vector in Rn
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
void addDimension(double minBound=0.0, double maxBound=0.0)
Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this add...
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...
virtual void sampleUniform(State *state)
Sample a state.
virtual void setup(void)
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.
Definition: StateSpace.cpp:220
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...
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...