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SO2StateSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/SO2StateSpace.h"
38 #include <algorithm>
39 #include <limits>
40 #include <cmath>
41 #include "ompl/tools/config/MagicConstants.h"
42 #include <boost/math/constants/constants.hpp>
43 
44 // Define for boost version < 1.47
45 #ifndef BOOST_ASSERT_MSG
46 #define BOOST_ASSERT_MSG(expr, msg) assert(expr)
47 #endif
48 
50 {
51  state->as<SO2StateSpace::StateType>()->value =
52  rng_.uniformReal(-boost::math::constants::pi<double>(), boost::math::constants::pi<double>());
53 }
54 
55 void ompl::base::SO2StateSampler::sampleUniformNear(State *state, const State *near, const double distance)
56 {
57  state->as<SO2StateSpace::StateType>()->value = rng_.uniformReal(near->as<SO2StateSpace::StateType>()->value - distance,
58  near->as<SO2StateSpace::StateType>()->value + distance);
59  space_->enforceBounds(state);
60 }
61 
62 void ompl::base::SO2StateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
63 {
64  state->as<SO2StateSpace::StateType>()->value = rng_.gaussian(mean->as<SO2StateSpace::StateType>()->value, stdDev);
65  space_->enforceBounds(state);
66 }
67 
69 {
70  return 1;
71 }
72 
74 {
75  return boost::math::constants::pi<double>();
76 }
77 
79 {
80  double v = fmod(state->as<StateType>()->value, 2.0 * boost::math::constants::pi<double>());
81  if (v <= -boost::math::constants::pi<double>())
82  v += 2.0 * boost::math::constants::pi<double>();
83  else
84  if (v > boost::math::constants::pi<double>())
85  v -= 2.0 * boost::math::constants::pi<double>();
86  state->as<StateType>()->value = v;
87 }
88 
90 {
91  return (state->as<StateType>()->value <= boost::math::constants::pi<double>()) &&
92  (state->as<StateType>()->value > -boost::math::constants::pi<double>());
93 }
94 
95 void ompl::base::SO2StateSpace::copyState(State *destination, const State *source) const
96 {
97  destination->as<StateType>()->value = source->as<StateType>()->value;
98 }
99 
101 {
102  return sizeof(double);
103 }
104 
105 void ompl::base::SO2StateSpace::serialize(void *serialization, const State *state) const
106 {
107  memcpy(serialization, &state->as<StateType>()->value, sizeof(double));
108 }
109 
110 void ompl::base::SO2StateSpace::deserialize(State *state, const void *serialization) const
111 {
112  memcpy(&state->as<StateType>()->value, serialization, sizeof(double));
113 }
114 
115 double ompl::base::SO2StateSpace::distance(const State *state1, const State *state2) const
116 {
117  // assuming the states 1 & 2 are within bounds
118  double d = fabs(state1->as<StateType>()->value - state2->as<StateType>()->value);
119  BOOST_ASSERT_MSG(satisfiesBounds(state1) && satisfiesBounds(state2),
120  "The states passed to SO2StateSpace::distance are not within bounds. Call "
121  "SO2StateSpace::enforceBounds() in, e.g., ompl::control::ODESolver::PostPropagationEvent, "
122  "ompl::control::StatePropagator, or ompl::base::StateValidityChecker");
123  return (d > boost::math::constants::pi<double>()) ? 2.0 * boost::math::constants::pi<double>() - d : d;
124 }
125 
126 bool ompl::base::SO2StateSpace::equalStates(const State *state1, const State *state2) const
127 {
128  return fabs(state1->as<StateType>()->value - state2->as<StateType>()->value) < std::numeric_limits<double>::epsilon() * 2.0;
129 }
130 
131 void ompl::base::SO2StateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
132 {
133  double diff = to->as<StateType>()->value - from->as<StateType>()->value;
134  if (fabs(diff) <= boost::math::constants::pi<double>())
135  state->as<StateType>()->value = from->as<StateType>()->value + diff * t;
136  else
137  {
138  double &v = state->as<StateType>()->value;
139  if (diff > 0.0)
140  diff = 2.0 * boost::math::constants::pi<double>() - diff;
141  else
142  diff = -2.0 * boost::math::constants::pi<double>() - diff;
143  v = from->as<StateType>()->value - diff * t;
144  // input states are within bounds, so the following check is sufficient
145  if (v > boost::math::constants::pi<double>())
146  v -= 2.0 * boost::math::constants::pi<double>();
147  else
148  if (v < -boost::math::constants::pi<double>())
149  v += 2.0 * boost::math::constants::pi<double>();
150  }
151 }
152 
154 {
155  return StateSamplerPtr(new SO2StateSampler(this));
156 }
157 
159 {
160  return new StateType();
161 }
162 
164 {
165  delete static_cast<StateType*>(state);
166 }
167 
169 {
170  class SO2DefaultProjection : public ProjectionEvaluator
171  {
172  public:
173 
174  SO2DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
175  {
176  }
177 
178  virtual unsigned int getDimension(void) const
179  {
180  return 1;
181  }
182 
183  virtual void defaultCellSizes(void)
184  {
185  cellSizes_.resize(1);
186  cellSizes_[0] = boost::math::constants::pi<double>() / magic::PROJECTION_DIMENSION_SPLITS;
187  bounds_.resize(1);
188  bounds_.low[0] = -boost::math::constants::pi<double>();
189  bounds_.high[0] = boost::math::constants::pi<double>();
190  }
191 
192  virtual void project(const State *state, EuclideanProjection &projection) const
193  {
194  projection(0) = state->as<SO2StateSpace::StateType>()->value;
195  }
196  };
197 
198  registerDefaultProjection(ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(new SO2DefaultProjection(this))));
199 }
200 
201 double* ompl::base::SO2StateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
202 {
203  return index == 0 ? &(state->as<StateType>()->value) : NULL;
204 }
205 
206 void ompl::base::SO2StateSpace::printState(const State *state, std::ostream &out) const
207 {
208  out << "SO2State [";
209  if (state)
210  out << state->as<StateType>()->value;
211  else
212  out << "NULL";
213  out << ']' << std::endl;
214 }
215 
216 void ompl::base::SO2StateSpace::printSettings(std::ostream &out) const
217 {
218  out << "SO2 state space '" << getName() << "'" << std::endl;
219 }
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
double value
The value of the angle in the interval (-Pi, Pi].
Definition: SO2StateSpace.h:81
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...
A boost shared pointer wrapper for ompl::base::StateSampler.
RNG rng_
An instance of a random number generator.
Definition: StateSampler.h:94
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.
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) ...
The definition of a state in SO(2)
Definition: SO2StateSpace.h:70
const T * as(void) const
Cast this instance to a desired type.
Definition: State.h:74
virtual void sampleUniform(State *state)
Sample a state.
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...
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:68
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
State space sampler for SO(2)
Definition: SO2StateSpace.h:48
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition of an abstract state.
Definition: State.h:50
virtual bool satisfiesBounds(const State *state) const
Check if the value of the state is in the interval (-Pi, Pi].
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
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...
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
virtual void enforceBounds(State *state) const
Normalize the value of the state to the interval (-Pi, Pi].
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void freeState(State *state) const
Free the memory of the allocated state.
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 void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.