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RealVectorStateManifold.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_MANIFOLDS_REAL_VECTOR_STATE_MANIFOLD_
00038 #define OMPL_BASE_MANIFOLDS_REAL_VECTOR_STATE_MANIFOLD_
00039 
00040 #include "ompl/base/StateManifold.h"
00041 #include "ompl/base/manifolds/RealVectorBounds.h"
00042 #include <vector>
00043 #include <string>
00044 #include <map>
00045 
00046 namespace ompl
00047 {
00048     namespace base
00049     {
00050 
00052         class RealVectorStateSampler : public ManifoldStateSampler
00053         {
00054         public:
00055 
00057             RealVectorStateSampler(const StateManifold *manifold) : ManifoldStateSampler(manifold)
00058             {
00059             }
00060 
00061             virtual void sampleUniform(State *state);
00062             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00063             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00064         };
00065 
00067         class RealVectorStateManifold : public StateManifold
00068         {
00069         public:
00070 
00072             class StateType : public State
00073             {
00074             public:
00075                 StateType(void) : State()
00076                 {
00077                 }
00078 
00081                 double operator[](unsigned int i) const
00082                 {
00083                     return values[i];
00084                 }
00085 
00088                 double& operator[](unsigned int i)
00089                 {
00090                     return values[i];
00091                 }
00092 
00094                 double *values;
00095             };
00096 
00099             RealVectorStateManifold(unsigned int dim = 0) : StateManifold(), dimension_(dim), bounds_(dim),  stateBytes_(dim * sizeof(double))
00100             {
00101                 type_ = STATE_MANIFOLD_REAL_VECTOR;
00102                 setName("RealVector" + getName());
00103                 dimensionNames_.resize(dim, "");
00104             }
00105 
00106             virtual ~RealVectorStateManifold(void)
00107             {
00108             }
00109 
00111             void addDimension(double minBound = 0.0, double maxBound = 0.0);
00112 
00114             void addDimension(const std::string &name, double minBound = 0.0, double maxBound = 0.0);
00115 
00119             void setBounds(const RealVectorBounds &bounds);
00120 
00123             void setBounds(double low, double high);
00124 
00126             const RealVectorBounds& getBounds(void) const
00127             {
00128                 return bounds_;
00129             }
00130 
00131             virtual unsigned int getDimension(void) const;
00132 
00135             const std::string& getDimensionName(unsigned int index) const;
00136 
00138             int getDimensionIndex(const std::string &name) const;
00139 
00141             void setDimensionName(unsigned int index, const std::string &name);
00142 
00143             virtual double getMaximumExtent(void) const;
00144 
00145             virtual void enforceBounds(State *state) const;
00146 
00147             virtual bool satisfiesBounds(const State *state) const;
00148 
00149             virtual void copyState(State *destination, const State *source) const;
00150 
00151             virtual double distance(const State *state1, const State *state2) const;
00152 
00153             virtual bool equalStates(const State *state1, const State *state2) const;
00154 
00155             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00156 
00157             virtual ManifoldStateSamplerPtr allocStateSampler(void) const;
00158 
00159             virtual State* allocState(void) const;
00160 
00161             virtual void freeState(State *state) const;
00162 
00163             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
00164 
00165             virtual void printState(const State *state, std::ostream &out) const;
00166 
00167             virtual void printSettings(std::ostream &out) const;
00168 
00169             virtual void registerProjections(void);
00170 
00171             virtual void setup(void);
00172 
00173         protected:
00174 
00176             unsigned int                        dimension_;
00177 
00179             RealVectorBounds                    bounds_;
00180 
00182             std::vector<std::string>            dimensionNames_;
00183 
00185             std::map<std::string, unsigned int> dimensionIndex_;
00186 
00187         private:
00188 
00190             std::size_t                         stateBytes_;
00191 
00192         };
00193     }
00194 }
00195 
00196 #endif
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