OpenDEStateSpace.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_EXTENSION_OPENDE_STATE_SPACE_
#define OMPL_EXTENSION_OPENDE_STATE_SPACE_
 
#include "ompl/base/StateSpace.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"
#include "ompl/base/spaces/SO3StateSpace.h"
#include "ompl/extensions/ode/OpenDEEnvironment.h"
 
namespace ompl
{
    namespace control
    {
        class OpenDEStateSpace : public base::CompoundStateSpace
        {
        public:
            enum
            {
                STATE_COLLISION_KNOWN_BIT = 0,
                STATE_COLLISION_VALUE_BIT = 1,
                STATE_VALIDITY_KNOWN_BIT = 2,
                STATE_VALIDITY_VALUE_BIT = 3,
            };
 
            class StateType : public base::CompoundStateSpace::StateType
            {
            public:
                StateType() = default;
 
                const double *getBodyPosition(unsigned int body) const
                {
                    return as<base::RealVectorStateSpace::StateType>(body * 4)->values;
                }
 
                double *getBodyPosition(unsigned int body)
                {
                    return as<base::RealVectorStateSpace::StateType>(body * 4)->values;
                }
 
                const base::SO3StateSpace::StateType &getBodyRotation(unsigned int body) const
                {
                    return *as<base::SO3StateSpace::StateType>(body * 4 + 3);
                }
 
                base::SO3StateSpace::StateType &getBodyRotation(unsigned int body)
                {
                    return *as<base::SO3StateSpace::StateType>(body * 4 + 3);
                }
 
                const double *getBodyLinearVelocity(unsigned int body) const
                {
                    return as<base::RealVectorStateSpace::StateType>(body * 4 + 1)->values;
                }
 
                double *getBodyLinearVelocity(unsigned int body)
                {
                    return as<base::RealVectorStateSpace::StateType>(body * 4 + 1)->values;
                }
 
                const double *getBodyAngularVelocity(unsigned int body) const
                {
                    return as<base::RealVectorStateSpace::StateType>(body * 4 + 2)->values;
                }
 
                double *getBodyAngularVelocity(unsigned int body)
                {
                    return as<base::RealVectorStateSpace::StateType>(body * 4 + 2)->values;
                }
 
                mutable int collision{0};
            };
 
            OpenDEStateSpace(OpenDEEnvironmentPtr env, double positionWeight = 1.0, double linVelWeight = 0.5,
                             double angVelWeight = 0.5, double orientationWeight = 1.0);
 
            ~OpenDEStateSpace() override = default;
 
            const OpenDEEnvironmentPtr &getEnvironment() const
            {
                return env_;
            }
 
            unsigned int getNrBodies() const
            {
                return env_->stateBodies_.size();
            }
 
            void setDefaultBounds();
 
            void setVolumeBounds(const base::RealVectorBounds &bounds);
 
            void setLinearVelocityBounds(const base::RealVectorBounds &bounds);
 
            void setAngularVelocityBounds(const base::RealVectorBounds &bounds);
 
            virtual void readState(base::State *state) const;
 
            virtual void writeState(const base::State *state) const;
 
            bool satisfiesBoundsExceptRotation(const StateType *state) const;
 
            base::State *allocState() const override;
            void freeState(base::State *state) const override;
            void copyState(base::State *destination, const base::State *source) const override;
            void interpolate(const base::State *from, const base::State *to, double t,
                             base::State *state) const override;
 
            base::StateSamplerPtr allocDefaultStateSampler() const override;
            base::StateSamplerPtr allocStateSampler() const override;
 
            virtual bool evaluateCollision(const base::State *state) const;
 
        protected:
            OpenDEEnvironmentPtr env_;
        };
    }
}
 
#endif