All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
SO2StateSpace.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_SO2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SO2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
46 
49  {
50  public:
51 
53  SO2StateSampler(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 
65  class SO2StateSpace : public StateSpace
66  {
67  public:
68 
70  class StateType : public State
71  {
72  public:
73 
75  void setIdentity(void)
76  {
77  value = 0.0;
78  }
79 
81  double value;
82  };
83 
84  SO2StateSpace(void) : StateSpace()
85  {
86  setName("SO2" + getName());
88  }
89 
90  virtual ~SO2StateSpace(void)
91  {
92  }
93 
94  virtual unsigned int getDimension(void) const;
95 
96  virtual double getMaximumExtent(void) const;
97 
98  virtual void enforceBounds(State *state) const;
99 
100  virtual bool satisfiesBounds(const State *state) const;
101 
102  virtual void copyState(State *destination, const State *source) const;
103 
104  virtual unsigned int getSerializationLength(void) const;
105 
106  virtual void serialize(void *serialization, const State *state) const;
107 
108  virtual void deserialize(State *state, const void *serialization) const;
109 
110  virtual double distance(const State *state1, const State *state2) const;
111 
112  virtual bool equalStates(const State *state1, const State *state2) const;
113 
114  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
115 
116  virtual StateSamplerPtr allocDefaultStateSampler(void) const;
117 
118  virtual State* allocState(void) const;
119 
120  virtual void freeState(State *state) const;
121 
122  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
123 
124  virtual void printState(const State *state, std::ostream &out) const;
125 
126  virtual void printSettings(std::ostream &out) const;
127 
128  virtual void registerProjections(void);
129  };
130  }
131 }
132 
133 #endif