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SpaceTimeStateSpace.h
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34
35/* Author: Francesco Grothe */
36
37#ifndef OMPL_BASE_SPACES_ANIMATION_STATE_SPACE_
38#define OMPL_BASE_SPACES_ANIMATION_STATE_SPACE_
39
40#include "ompl/base/StateSpace.h"
41#include <ompl/base/spaces/RealVectorStateSpace.h>
42#include <ompl/base/spaces/TimeStateSpace.h>
43#include <ompl/util/Exception.h>
44
45namespace ompl
46{
47 namespace base
48 {
51 {
52 public:
55 explicit SpaceTimeStateSpace(const StateSpacePtr& spaceComponent, double vMax = 1.0, double timeWeight = 0.5);
56
63 double distance(const ompl::base::State *state1, const ompl::base::State *state2) const override;
64
66 double timeToCoverDistance(const ompl::base::State *state1, const ompl::base::State *state2) const;
67
69 double distanceSpace(const ompl::base::State *state1, const ompl::base::State *state2) const;
70
72 double distanceTime(const ompl::base::State *state1, const ompl::base::State *state2) const;
73
75 static double getStateTime(const ompl::base::State *state) ;
76
78 void setTimeBounds(double lb, double ub);
79
81 double getVMax() const;
82
84 void setVMax(double vMax);
85
88
91
93 bool isMetricSpace() const override;
94
96 double getMaximumExtent() const override;
97
99 void updateEpsilon();
100
101 protected:
103 double vMax_;
104
106 double eps_ = std::numeric_limits<float>::epsilon();
107 };
108 }
109}
110
111#endif
CompoundStateSpace()
Construct an empty compound state space.
double getVMax() const
Maximum velocity getter.
StateSpacePtr getSpaceComponent()
The space component as a StateSpacePtr.
double distanceSpace(const ompl::base::State *state1, const ompl::base::State *state2) const
The distance of just the space component.
bool isMetricSpace() const override
No metric state space, as the triangle inequality is not satisfied.
TimeStateSpace * getTimeComponent()
The time component as a TimeStateSpace pointer.
void updateEpsilon()
Scale epsilon appropriately after time or space bounds were set.
double getMaximumExtent() const override
Maximum extent is infinite, as the distance can be infinite even with bounded time.
double timeToCoverDistance(const ompl::base::State *state1, const ompl::base::State *state2) const
The time to get from state1 to state2 with respect to vMax.
double distanceTime(const ompl::base::State *state1, const ompl::base::State *state2) const
The distance of just the time component.
double distance(const ompl::base::State *state1, const ompl::base::State *state2) const override
The distance from state1 to state2. May be infinite.
void setTimeBounds(double lb, double ub)
Set lower and upper time bounds for the time component.
static double getStateTime(const ompl::base::State *state)
The time value of the given state.
SpaceTimeStateSpace(const StateSpacePtr &spaceComponent, double vMax=1.0, double timeWeight=0.5)
Constructor. The maximum velocity and the weight of the time component for distance calculation need ...
double vMax_
The maximum velocity of the space.
double eps_
The epsilon for time distance calculation.
void setVMax(double vMax)
Maximum velocity setter.
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition State.h:50
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op,...
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.