State space representing ODE states. More...
#include <ODEStateSpace.h>
Classes | |
| class | StateType |
| ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More... | |
Public Types | |
| enum | { STATE_COLLISION_KNOWN_BIT = 0, STATE_COLLISION_VALUE_BIT = 1, STATE_VALIDITY_KNOWN_BIT = 2, STATE_VALIDITY_VALUE_BIT = 3 } |
Public Member Functions | |
| virtual base::State * | allocState (void) const |
| Allocate a state that can store a point in the described space. | |
| virtual void | copyState (base::State *destination, const base::State *source) const |
| Copy a state to another. The memory of source and destination should NOT overlap. | |
| virtual bool | evaluateCollision (const base::State *source) const |
| Fill the ODEStateSpace::STATE_COLLISION_VALUE_BIT of StateType::collision member of a state, if unspecified. Return the value value of that bit. | |
| virtual void | freeState (base::State *state) const |
| Free the memory of the allocated state. | |
| const ODEEnvironmentPtr & | getEnvironment (void) const |
| Get the ODE environment this state space corresponds to. | |
| unsigned int | getNrBodies (void) const |
| Get the number of bodies state is maintained for. | |
| ODEStateSpace (const ODEEnvironmentPtr &env, double positionWeight=1.0, double linVelWeight=0.5, double angVelWeight=0.5, double orientationWeight=1.0) | |
| Construct a state space representing ODE states. | |
| virtual void | readState (base::State *state) const |
| Read the parameters of the ODE bodies and store them in state. | |
| bool | satisfiesBoundsExceptRotation (const StateType *state) const |
| This is a convenience function provided for optimization purposes. It checks whether a state satisfies its bounds. Typically, in the process of simulation the rotations remain valid (very slightly out of bounds), so there is no point in updating or checking them. This function checks all other bounds (position, linear and agular velocities). | |
| void | setAngularVelocityBounds (const base::RealVectorBounds &bounds) |
| Set the bounds for each of the angular velocity subspaces. | |
| void | setDefaultBounds (void) |
| By default, the volume bounds enclosing the geometry of the environment are computed to include all objects in the spaces collision checking is performed (env.collisionSpaces_). The linear and angular velocity bounds are set as -1 to 1 for each dimension. | |
| void | setLinearVelocityBounds (const base::RealVectorBounds &bounds) |
| Set the bounds for each of the linear velocity subspaces. | |
| void | setVolumeBounds (const base::RealVectorBounds &bounds) |
| Set the bounds for each of the position subspaces. | |
| virtual void | writeState (const base::State *state) const |
| Set the parameters of the ODE bodies to be the ones read from state. The code will technically work if this function is called from multiple threads simultaneously, but the results are unpredictable. | |
| virtual | ~ODEStateSpace (void) |
Protected Attributes | |
| ODEEnvironmentPtr | env_ |
| Representation of the ODE parameters OMPL needs to plan. | |
State space representing ODE states.
Definition at line 51 of file ODEStateSpace.h.
| anonymous enum |
| STATE_COLLISION_KNOWN_BIT |
Index of bit in StateType::collision indicating whether it is known if a state is in collision or not. Initially this is 0. The value of this bit is updated by ODEStateSpace::evaluateCollision() and ODEControlSpace::propagate(). |
| STATE_COLLISION_VALUE_BIT |
Index of bit in StateType::collision indicating whether a state is in collision or not. Initially the value of this field is unspecified. The value gains meaning (1 or 0) when ODEStateSpace::STATE_COLLISION_KNOWN_BIT becomes 1. The value of this bit is updated by ODEStateSpace::evaluateCollision() and ODEControlSpace::propagate(). A value of 1 implies that there is no collision for which ODEEnvironment::isValidCollision() returns false. |
| STATE_VALIDITY_KNOWN_BIT |
Index of bit in StateType::collision indicating whether it is known if a state is in valid or not. Initially this is 0. The value of this bit is updated by ODEStateValidityChecker::isValid(). This bit is only used if the ODEStateValidityChecker is used. |
| STATE_VALIDITY_VALUE_BIT |
Index of bit in StateType::collision indicating whether a state is valid or not. Initially the value of this field is unspecified. The value gains meaning (1 or 0) when ODEStateSpace::STATE_VALIDITY_KNOWN_BIT becomes 1. The value of this bit is updated by ODEEnvironment::isValid(). A value of 1 implies that a state is valid. This bit is only used if the ODEStateValidityChecker is used. |
Definition at line 55 of file ODEStateSpace.h.
| ompl::control::ODEStateSpace::ODEStateSpace | ( | const ODEEnvironmentPtr & | env, | |
| double | positionWeight = 1.0, |
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| double | linVelWeight = 0.5, |
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| double | angVelWeight = 0.5, |
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| double | orientationWeight = 1.0 | |||
| ) |
Construct a state space representing ODE states.
This will be a compound state space with 4 components for each body in env.stateBodies_. The 4 subspaces constructed for each body are: position (R3), linear velocity (R3), angular velocity (R3) and orientation (SO(3)). Default bounds are set by calling setDefaultBounds().
| env | the environment to construct the state space for | |
| positionWeight | the weight to pass to CompoundStateSpace::addSubSpace() for position subspaces | |
| linVelWeight | the weight to pass to CompoundStateSpace::addSubSpace() for linear velocity subspaces | |
| angVelWeight | the weight to pass to CompoundStateSpace::addSubSpace() for angular velocity subspaces | |
| orientationWeight | the weight to pass to CompoundStateSpace::addSubSpace() for orientation subspaces |
| virtual ompl::control::ODEStateSpace::~ODEStateSpace | ( | void | ) | [inline, virtual] |
Definition at line 152 of file ODEStateSpace.h.
| virtual base::State* ompl::control::ODEStateSpace::allocState | ( | void | ) | const [virtual] |
Allocate a state that can store a point in the described space.
Reimplemented from ompl::base::CompoundStateSpace.
| virtual void ompl::control::ODEStateSpace::copyState | ( | base::State * | destination, | |
| const base::State * | source | |||
| ) | const [virtual] |
Copy a state to another. The memory of source and destination should NOT overlap.
Reimplemented from ompl::base::CompoundStateSpace.
| virtual bool ompl::control::ODEStateSpace::evaluateCollision | ( | const base::State * | source | ) | const [virtual] |
Fill the ODEStateSpace::STATE_COLLISION_VALUE_BIT of StateType::collision member of a state, if unspecified. Return the value value of that bit.
| virtual void ompl::control::ODEStateSpace::freeState | ( | base::State * | state | ) | const [virtual] |
Free the memory of the allocated state.
Reimplemented from ompl::base::CompoundStateSpace.
| const ODEEnvironmentPtr& ompl::control::ODEStateSpace::getEnvironment | ( | void | ) | const [inline] |
Get the ODE environment this state space corresponds to.
Definition at line 157 of file ODEStateSpace.h.
| unsigned int ompl::control::ODEStateSpace::getNrBodies | ( | void | ) | const [inline] |
Get the number of bodies state is maintained for.
Definition at line 163 of file ODEStateSpace.h.
| virtual void ompl::control::ODEStateSpace::readState | ( | base::State * | state | ) | const [virtual] |
Read the parameters of the ODE bodies and store them in state.
| bool ompl::control::ODEStateSpace::satisfiesBoundsExceptRotation | ( | const StateType * | state | ) | const |
This is a convenience function provided for optimization purposes. It checks whether a state satisfies its bounds. Typically, in the process of simulation the rotations remain valid (very slightly out of bounds), so there is no point in updating or checking them. This function checks all other bounds (position, linear and agular velocities).
| void ompl::control::ODEStateSpace::setAngularVelocityBounds | ( | const base::RealVectorBounds & | bounds | ) |
Set the bounds for each of the angular velocity subspaces.
| void ompl::control::ODEStateSpace::setDefaultBounds | ( | void | ) |
By default, the volume bounds enclosing the geometry of the environment are computed to include all objects in the spaces collision checking is performed (env.collisionSpaces_). The linear and angular velocity bounds are set as -1 to 1 for each dimension.
| void ompl::control::ODEStateSpace::setLinearVelocityBounds | ( | const base::RealVectorBounds & | bounds | ) |
Set the bounds for each of the linear velocity subspaces.
| void ompl::control::ODEStateSpace::setVolumeBounds | ( | const base::RealVectorBounds & | bounds | ) |
Set the bounds for each of the position subspaces.
| virtual void ompl::control::ODEStateSpace::writeState | ( | const base::State * | state | ) | const [virtual] |
Set the parameters of the ODE bodies to be the ones read from state. The code will technically work if this function is called from multiple threads simultaneously, but the results are unpredictable.
ODEEnvironmentPtr ompl::control::ODEStateSpace::env_ [protected] |
Representation of the ODE parameters OMPL needs to plan.
Definition at line 214 of file ODEStateSpace.h.
