All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
TimeStateSpace.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_TIME_STATE_SPACE_
38 #define OMPL_BASE_SPACES_TIME_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
46 
49  {
50  public:
51 
53  TimeStateSampler(const StateSpace *space) : StateSampler(space)
54  {
55  }
56 
57  virtual void sampleUniform(State *state);
58  virtual void sampleUniformNear(State *state, const State *near, const double distance);
59  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
60  };
61 
71  class TimeStateSpace : public StateSpace
72  {
73  public:
74 
76  class StateType : public State
77  {
78  public:
79 
81  double position;
82  };
83 
84  TimeStateSpace(void) : StateSpace(), bounded_(false), minTime_(0.0), maxTime_(0.0)
85  {
86  setName("Time" + getName());
88  }
89 
90  virtual ~TimeStateSpace(void)
91  {
92  }
93 
94  virtual unsigned int getDimension(void) const;
95 
96  virtual double getMaximumExtent(void) const;
97 
104  void setBounds(double minTime, double maxTime);
105 
107  double getMinTimeBound(void) const
108  {
109  return minTime_;
110  }
111 
113  double getMaxTimeBound(void) const
114  {
115  return maxTime_;
116  }
117 
119  bool isBounded(void) const
120  {
121  return bounded_;
122  }
123 
124  virtual void enforceBounds(State *state) const;
125 
126  virtual bool satisfiesBounds(const State *state) const;
127 
128  virtual void copyState(State *destination, const State *source) const;
129 
130  virtual unsigned int getSerializationLength(void) const;
131 
132  virtual void serialize(void *serialization, const State *state) const;
133 
134  virtual void deserialize(State *state, const void *serialization) const;
135 
136  virtual double distance(const State *state1, const State *state2) const;
137 
138  virtual bool equalStates(const State *state1, const State *state2) const;
139 
140  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
141 
142  virtual StateSamplerPtr allocDefaultStateSampler(void) const;
143 
144  virtual State* allocState(void) const;
145 
146  virtual void freeState(State *state) const;
147 
148  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
149 
150  virtual void printState(const State *state, std::ostream &out) const;
151 
152  virtual void printSettings(std::ostream &out) const;
153 
154  virtual void registerProjections(void);
155 
156  protected:
157 
159  bool bounded_;
160 
162  double minTime_;
163 
165  double maxTime_;
166 
167  };
168  }
169 }
170 
171 #endif