OpenDEEnvironment.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_EXTENSION_OPENDE_ENVIRONMENT_
#define OMPL_EXTENSION_OPENDE_ENVIRONMENT_
 
#include "ompl/config.h"
#if OMPL_EXTENSION_ODE == 0
#error OpenDE extension not built
#endif
 
#include "ompl/util/ClassForward.h"
 
#include <ode/ode.h>
#include <vector>
#include <string>
#include <map>
#include <mutex>
 
namespace ompl
{
    namespace control
    {
 
        OMPL_CLASS_FORWARD(OpenDEEnvironment);
 
        class OpenDEEnvironment
        {
        public:
            dWorldID world_{nullptr};
 
            std::vector<dSpaceID> collisionSpaces_;
 
            std::vector<dBodyID> stateBodies_;
 
            std::map<dGeomID, std::string> geomNames_;
 
            bool verboseContacts_{false};
 
            dJointGroupID contactGroup_;
 
            unsigned int maxContacts_{3};
 
            double stepSize_{0.05};
 
            unsigned int maxControlSteps_{100};
 
            unsigned int minControlSteps_{5};
 
            mutable std::mutex mutex_;
 
            OpenDEEnvironment()
            {
                contactGroup_ = dJointGroupCreate(0);
            }
 
            virtual ~OpenDEEnvironment()
            {
                if (contactGroup_ != nullptr)
                    dJointGroupDestroy(contactGroup_);
            }
 
            virtual unsigned int getControlDimension() const = 0;
 
            virtual void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const = 0;
 
            virtual void applyControl(const double *control) const = 0;
 
            virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact &contact) const;
 
            virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const;
 
            virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const;
 
            std::string getGeomName(dGeomID geom) const;
 
            void setGeomName(dGeomID geom, const std::string &name);
        };
    }
}
 
#endif