SE3StateSpace.cpp
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 #include "ompl/base/spaces/SE3StateSpace.h"
38 #include "ompl/tools/config/MagicConstants.h"
39 #include <cstring>
40 
42 {
43  StateType *state = new StateType();
44  allocStateComponents(state);
45  return state;
46 }
47 
49 {
51 }
52 
54 {
55  class SE3DefaultProjection : public ProjectionEvaluator
56  {
57  public:
58 
59  SE3DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
60  {
61  }
62 
63  virtual unsigned int getDimension() const
64  {
65  return 3;
66  }
67 
68  virtual void defaultCellSizes()
69  {
70  cellSizes_.resize(3);
71  bounds_ = space_->as<SE3StateSpace>()->getBounds();
72  cellSizes_[0] = (bounds_.high[0] - bounds_.low[0]) / magic::PROJECTION_DIMENSION_SPLITS;
73  cellSizes_[1] = (bounds_.high[1] - bounds_.low[1]) / magic::PROJECTION_DIMENSION_SPLITS;
74  cellSizes_[2] = (bounds_.high[2] - bounds_.low[2]) / magic::PROJECTION_DIMENSION_SPLITS;
75  }
76 
77  virtual void project(const State *state, EuclideanProjection &projection) const
78  {
79  memcpy(&projection(0), state->as<SE3StateSpace::StateType>()->as<RealVectorStateSpace::StateType>(0)->values, 3 * sizeof(double));
80  }
81  };
82 
83  registerDefaultProjection(ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(new SE3DefaultProjection(this))));
84 }
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
Definition: SE3StateSpace.h:55
CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:549
virtual void freeState(State *state) const
Free the memory of the allocated state.
virtual State * allocState() const
Allocate a state that can store a point in the described space.
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
const T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:109
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition: StateSpace.cpp:737
virtual unsigned int getDimension() const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Definition: StateSpace.cpp:972
const T * as() const
Cast this instance to a desired type.
Definition: State.h:74
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...
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
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
double * values
The value of the actual vector in Rn
virtual void freeState(State *state) const
Free the memory of the allocated state.
A state space representing SE(3)
Definition: SE3StateSpace.h:50
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...