RealVectorStateSpace.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
#define OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
 
#include "ompl/base/StateSpace.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include <vector>
#include <string>
#include <map>
 
namespace ompl
{
    namespace base
    {
        class RealVectorStateSampler : public StateSampler
        {
        public:
            RealVectorStateSampler(const StateSpace *space) : StateSampler(space)
            {
            }
 
            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;
        };
 
        class RealVectorStateSpace : public StateSpace
        {
        public:
            class StateType : public State
            {
            public:
                StateType() = default;
 
                double operator[](unsigned int i) const
                {
                    return values[i];
                }
 
                double &operator[](unsigned int i)
                {
                    return values[i];
                }
 
                double *values;
            };
 
            RealVectorStateSpace(unsigned int dim = 0)
              : dimension_(dim), bounds_(dim), stateBytes_(dim * sizeof(double))
            {
                type_ = STATE_SPACE_REAL_VECTOR;
                setName("RealVector" + getName());
                dimensionNames_.resize(dim, "");
            }
 
            ~RealVectorStateSpace() override = default;
 
            void addDimension(double minBound = 0.0, double maxBound = 0.0);
 
            void addDimension(const std::string &name, double minBound = 0.0, double maxBound = 0.0);
 
            void setBounds(const RealVectorBounds &bounds);
 
            void setBounds(double low, double high);
 
            const RealVectorBounds &getBounds() const
            {
                return bounds_;
            }
 
            unsigned int getDimension() const override;
 
            const std::string &getDimensionName(unsigned int index) const;
 
            int getDimensionIndex(const std::string &name) const;
 
            void setDimensionName(unsigned int index, const std::string &name);
 
            double getMaximumExtent() const override;
 
            double getMeasure() const override;
 
            void enforceBounds(State *state) const override;
 
            bool satisfiesBounds(const State *state) const override;
 
            void copyState(State *destination, const State *source) const override;
 
            unsigned int getSerializationLength() const override;
 
            void serialize(void *serialization, const State *state) const override;
 
            void deserialize(State *state, const void *serialization) const override;
 
            double distance(const State *state1, const State *state2) const override;
 
            bool equalStates(const State *state1, const State *state2) const override;
 
            void interpolate(const State *from, const State *to, double t, State *state) const override;
 
            StateSamplerPtr allocDefaultStateSampler() const override;
 
            State *allocState() const override;
 
            void freeState(State *state) const override;
 
            double *getValueAddressAtIndex(State *state, unsigned int index) const override;
 
            void printState(const State *state, std::ostream &out) const override;
 
            void printSettings(std::ostream &out) const override;
 
            void registerProjections() override;
 
            void setup() override;
 
        protected:
            unsigned int dimension_;
 
            RealVectorBounds bounds_;
 
            std::vector<std::string> dimensionNames_;
 
            std::map<std::string, unsigned int> dimensionIndex_;
 
        private:
            std::size_t stateBytes_;
        };
    }
}
 
#endif