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DubinsStateSpace.h
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34
35/* Author: Mark Moll */
36
37#ifndef OMPL_BASE_SPACES_DUBINS_STATE_SPACE_
38#define OMPL_BASE_SPACES_DUBINS_STATE_SPACE_
39
40#include "ompl/base/spaces/SE2StateSpace.h"
41#include "ompl/base/MotionValidator.h"
42#include <boost/math/constants/constants.hpp>
43
44namespace ompl
45{
46 namespace base
47 {
65 {
66 public:
69 {
70 DUBINS_LEFT = 0,
71 DUBINS_STRAIGHT = 1,
72 DUBINS_RIGHT = 2
73 };
78 {
79 public:
80 DubinsPath(const DubinsPathSegmentType *type = dubinsPathType[0], double t = 0.,
81 double p = std::numeric_limits<double>::max(), double q = 0.)
82 : type_(type)
83 {
84 length_[0] = t;
85 length_[1] = p;
86 length_[2] = q;
87 assert(t >= 0.);
88 assert(p >= 0.);
89 assert(q >= 0.);
90 }
91 double length() const
92 {
93 return length_[0] + length_[1] + length_[2];
94 }
95
99 double length_[3];
101 bool reverse_{false};
102 };
103
104 DubinsStateSpace(double turningRadius = 1.0, bool isSymmetric = false)
105 : rho_(turningRadius), isSymmetric_(isSymmetric)
106 {
107 }
108
109 bool isMetricSpace() const override
110 {
111 return false;
112 }
113
114 double distance(const State *state1, const State *state2) const override;
115
116 void interpolate(const State *from, const State *to, double t, State *state) const override;
117 virtual void interpolate(const State *from, const State *to, double t, bool &firstTime,
118 DubinsPath &path, State *state) const;
119
120 bool hasSymmetricDistance() const override
121 {
122 return isSymmetric_;
123 }
124
125 bool hasSymmetricInterpolate() const override
126 {
127 return isSymmetric_;
128 }
129
130 void sanityChecks() const override
131 {
132 double zero = std::numeric_limits<double>::epsilon();
133 double eps = std::numeric_limits<float>::epsilon();
135 if (!isSymmetric_)
136 flags &= ~STATESPACE_DISTANCE_SYMMETRIC;
137 StateSpace::sanityChecks(zero, eps, flags);
138 }
139
141 DubinsPath dubins(const State *state1, const State *state2) const;
142
143 protected:
144 virtual void interpolate(const State *from, const DubinsPath &path, double t, State *state) const;
145
147 double rho_;
148
157 };
158
166 {
167 public:
169 {
170 defaultSettings();
171 }
173 {
174 defaultSettings();
175 }
176 ~DubinsMotionValidator() override = default;
177 bool checkMotion(const State *s1, const State *s2) const override;
178 bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
179
180 private:
181 DubinsStateSpace *stateSpace_;
182 void defaultSettings();
183 };
184 }
185}
186
187#endif
A Dubins motion validator that only uses the state validity checker. Motions are checked for validity...
bool checkMotion(const State *s1, const State *s2) const override
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
Complete description of a Dubins path.
const DubinsPathSegmentType * type_
An SE(2) state space where distance is measured by the length of Dubins curves.
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
DubinsPathSegmentType
The Dubins path segment type.
bool isMetricSpace() const override
Return true if the distance function associated with the space is a metric.
DubinsPath dubins(const State *state1, const State *state2) const
Return the shortest Dubins path from SE(2) state state1 to SE(2) state state2.
void sanityChecks() const override
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
bool hasSymmetricDistance() const override
Check if the distance function on this state space is symmetric, i.e. distance(s1,...
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
bool hasSymmetricInterpolate() const override
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...
bool isSymmetric_
Whether the distance is "symmetrized".
static const DubinsPathSegmentType dubinsPathType[6][3]
Dubins path types.
Abstract definition for a class checking the validity of motions – path segments between states....
A state space representing SE(2)
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
@ STATESPACE_DISTANCE_BOUND
Check whether the StateSpace::distance() is bounded by StateSpace::getExtent()
Definition StateSpace.h:152
@ STATESPACE_INTERPOLATION
Check whether calling StateSpace::interpolate() works as expected.
Definition StateSpace.h:145
@ STATESPACE_TRIANGLE_INEQUALITY
Check whether the triangle inequality holds when using StateSpace::interpolate() and StateSpace::dist...
Definition StateSpace.h:149
virtual void sanityChecks() const
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition of an abstract state.
Definition State.h:50
Main namespace. Contains everything in this library.