ProjectedStateSpace.h

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/* Author: Zachary Kingston */
 
#ifndef OMPL_BASE_SPACES_PROJECTED_STATE_SPACE_
#define OMPL_BASE_SPACES_PROJECTED_STATE_SPACE_
 
#include "ompl/base/MotionValidator.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/StateSampler.h"
#include "ompl/base/ValidStateSampler.h"
#include "ompl/base/Constraint.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"
#include "ompl/base/spaces/constraint/ConstrainedStateSpace.h"
 
namespace ompl
{
    namespace base
    {
 
        OMPL_CLASS_FORWARD(ProjectedStateSpace);
 
        class ProjectedStateSampler : public WrapperStateSampler
        {
        public:
            ProjectedStateSampler(const ProjectedStateSpace *space, StateSamplerPtr sampler);
 
            void sampleUniform(State *state) override;
 
            void sampleUniformNear(State *state, const State *near, double distance) override;
 
            void sampleGaussian(State *state, const State *mean, double stdDev) override;
 
        protected:
            const ConstraintPtr constraint_;
        };
 
        class ProjectedStateSpace : public ConstrainedStateSpace
        {
        public:
            ProjectedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
              : ConstrainedStateSpace(ambientSpace, constraint)
            {
                setName("Projected" + space_->getName());
            }
 
            ~ProjectedStateSpace() override = default;
 
            StateSamplerPtr allocDefaultStateSampler() const override
            {
                return std::make_shared<ProjectedStateSampler>(this, space_->allocDefaultStateSampler());
            }
 
            StateSamplerPtr allocStateSampler() const override
            {
                return std::make_shared<ProjectedStateSampler>(this, space_->allocStateSampler());
            }
 
            bool discreteGeodesic(const State *from, const State *to, bool interpolate = false,
                                  std::vector<State *> *geodesic = nullptr) const override;
        };
    }
}
 
#endif