ODEStateSpace.h

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/* Author: Ioan Sucan */

#ifndef OMPL_EXTENSION_ODE_STATE_SPACE_
#define OMPL_EXTENSION_ODE_STATE_SPACE_

#include "ompl/base/StateSpace.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"
#include "ompl/base/spaces/SO3StateSpace.h"
#include "ompl/extensions/ode/ODEEnvironment.h"

namespace ompl
{
    namespace control
    {

        class ODEStateSpace : 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(void) : base::CompoundStateSpace::StateType(), collision(0)
                {
                }

                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;

            };

            ODEStateSpace(const ODEEnvironmentPtr &env,
                          double positionWeight = 1.0, double linVelWeight = 0.5,
                          double angVelWeight = 0.5, double orientationWeight = 1.0);

            virtual ~ODEStateSpace(void)
            {
            }

            const ODEEnvironmentPtr& getEnvironment(void) const
            {
                return env_;
            }

            unsigned int getNrBodies(void) const
            {
                return env_->stateBodies_.size();
            }

            void setDefaultBounds(void);

            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;

            virtual base::State* allocState(void) const;
            virtual void freeState(base::State *state) const;
            virtual void copyState(base::State *destination, const base::State *source) const;

            virtual bool evaluateCollision(const base::State *source) const;

        protected:

            ODEEnvironmentPtr env_;
        };
    }
}


#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013