model_based_state_space.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_
#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_

#include <ompl/base/StateSpace.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <moveit/constraint_samplers/constraint_sampler.h>

namespace ompl_interface
{

typedef boost::function<bool(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state)> InterpolationFunction;
typedef boost::function<double(const ompl::base::State *state1, const ompl::base::State *state2)> DistanceFunction;

struct ModelBasedStateSpaceSpecification
{
  ModelBasedStateSpaceSpecification(const robot_model::RobotModelConstPtr &robot_model,
                                    const robot_model::JointModelGroup *jmg)
    : robot_model_(robot_model)
    , joint_model_group_(jmg)
  {
  }

  ModelBasedStateSpaceSpecification(const robot_model::RobotModelConstPtr &robot_model,
                                    const std::string &group_name) 
    : robot_model_(robot_model)
    , joint_model_group_(robot_model_->getJointModelGroup(group_name))
  {
    if (!joint_model_group_)
      throw std::runtime_error("Group '" + group_name + "'  was not found");
  }

  robot_model::RobotModelConstPtr robot_model_;
  const robot_model::JointModelGroup *joint_model_group_;
  robot_model::JointBoundsVector joint_bounds_; 
};

class ModelBasedStateSpace : public ompl::base::StateSpace
{
public:
  
  class StateType : public ompl::base::State
  {
  public:
    
    enum
      {
        VALIDITY_KNOWN = 1,
        GOAL_DISTANCE_KNOWN = 2,
        VALIDITY_TRUE = 4,
        IS_START_STATE = 8,
        IS_GOAL_STATE = 16
      };
    
    StateType() 
      : ompl::base::State()
      , values(NULL)
      , tag(-1)
      , flags(0)
      , distance(0.0)
    {
    }
    
    void markValid(double d)
    {
      distance = d;
      flags |= GOAL_DISTANCE_KNOWN;
      markValid();
    }
    
    void markValid()
    {
      flags |= (VALIDITY_KNOWN | VALIDITY_TRUE);
    }
    
    void markInvalid(double d)
    {
      distance = d;
      flags |= GOAL_DISTANCE_KNOWN;
      markInvalid();
    }

    void markInvalid()
    {
      flags &= ~VALIDITY_TRUE;
      flags |= VALIDITY_KNOWN;
    }

    bool isValidityKnown() const
    {
      return flags & VALIDITY_KNOWN;
    }

    void clearKnownInformation()
    {
      flags = 0;
    }

    bool isMarkedValid() const
    {
      return flags & VALIDITY_TRUE;
    }

    bool isGoalDistanceKnown() const
    {
      return flags & GOAL_DISTANCE_KNOWN;
    }

    bool isStartState() const
    {
      return flags & IS_START_STATE;
    }

    bool isGoalState() const
    {
      return flags & IS_GOAL_STATE;
    }

    bool isInputState() const
    {
      return flags & (IS_START_STATE | IS_GOAL_STATE);
    }

    void markStartState()
    {
      flags |= IS_START_STATE;
    }

    void markGoalState()
    {
      flags |= IS_GOAL_STATE;
    }

    double *values;
    int tag;
    int flags;
    double distance;
  };

  ModelBasedStateSpace(const ModelBasedStateSpaceSpecification &spec);
  virtual ~ModelBasedStateSpace();

  void setInterpolationFunction(const InterpolationFunction &fun)
  {
    interpolation_function_ = fun;
  }

  void setDistanceFunction(const DistanceFunction &fun)
  {
    distance_function_ = fun;
  }

  virtual ompl::base::State* allocState() const;
  virtual void freeState(ompl::base::State *state) const;
  virtual unsigned int getDimension() const;
  virtual void enforceBounds(ompl::base::State *state) const;
  virtual bool satisfiesBounds(const ompl::base::State *state) const;

  virtual void copyState(ompl::base::State *destination, const ompl::base::State *source) const;
  virtual void interpolate(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) const;
  virtual double distance(const ompl::base::State *state1, const ompl::base::State *state2) const;
  virtual bool equalStates(const ompl::base::State *state1, const ompl::base::State *state2) const;
  virtual double getMaximumExtent() const;
  virtual double getMeasure() const;

  virtual unsigned int getSerializationLength() const;
  virtual void serialize(void *serialization, const ompl::base::State *state) const;
  virtual void deserialize(ompl::base::State *state, const void *serialization) const;
  virtual double* getValueAddressAtIndex(ompl::base::State *state, const unsigned int index) const;

  virtual ompl::base::StateSamplerPtr allocDefaultStateSampler() const;

  
  const robot_model::RobotModelConstPtr& getRobotModel() const
  {
    return spec_.robot_model_;
  }

  const robot_model::JointModelGroup* getJointModelGroup() const
  {
    return spec_.joint_model_group_;
  }

  const std::string& getJointModelGroupName() const
  {
    return getJointModelGroup()->getName();
  }

  const ModelBasedStateSpaceSpecification& getSpecification() const
  {
    return spec_;
  }

  virtual void printState(const ompl::base::State *state, std::ostream &out) const;
  virtual void printSettings(std::ostream &out) const;

  virtual void setPlanningVolume(double minX, double maxX, double minY, double maxY, double minZ, double maxZ);

  const robot_model::JointBoundsVector& getJointsBounds() const
  {
    return spec_.joint_bounds_;
  }

  // The joint states \b must be specified in the same order as the joint models in the constructor
  virtual void copyToRobotState(robot_state::RobotState &rstate, const ompl::base::State *state) const;

  //  The joint states \b must be specified in the same order as the joint models in the constructor
  virtual void copyToOMPLState(ompl::base::State *state, const robot_state::RobotState &rstate) const;

  virtual void copyJointToOMPLState(ompl::base::State *state, const robot_state::RobotState &robot_state,
                                    const moveit::core::JointModel* joint_model, int ompl_state_joint_index) const;

  double getTagSnapToSegment() const;
  void setTagSnapToSegment(double snap);

protected:

  ModelBasedStateSpaceSpecification spec_;
  std::vector<robot_model::JointModel::Bounds> joint_bounds_storage_;
  std::vector<const robot_model::JointModel*> joint_model_vector_;
  unsigned int variable_count_;
  size_t state_values_size_;
  
  InterpolationFunction interpolation_function_;
  DistanceFunction distance_function_;

  double tag_snap_to_segment_;
  double tag_snap_to_segment_complement_;

};

typedef boost::shared_ptr<ModelBasedStateSpace> ModelBasedStateSpacePtr;

}

#endif