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SpaceTimeStateSpace.cpp
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34
35/* Author: Francesco Grothe */
36
37#include "ompl/base/spaces/SpaceTimeStateSpace.h"
38
40 double timeWeight) : vMax_(vMax)
41{
42 if (timeWeight < 0 || timeWeight > 1)
43 throw ompl::Exception("Error in SpaceTimeStateSpace Construction: Time weight must be between 0 and 1");
44
45 setName("SpaceTimeStateSpace" + getName());
46 addSubspace(spaceComponent, (1 - timeWeight)); // space component
47 addSubspace(std::make_shared<TimeStateSpace>(), timeWeight); // time component
48 lock();
49}
50
52{
53 double deltaSpace = distanceSpace(state1, state2);
54 double deltaTime = distanceTime(state1, state2);
55
56 if (deltaSpace / vMax_ > deltaTime + eps_) return std::numeric_limits<double>::infinity();
57
58 return weights_[0] * deltaSpace + weights_[1] * deltaTime;
59
60}
61
62/*
63 * Direction-independent distance in space
64 */
66 const ompl::base::State *state2) const
67{
68 const auto *cstate1 = static_cast<const CompoundState *>(state1);
69 const auto *cstate2 = static_cast<const CompoundState *>(state2);
70
71 return components_[0]->distance(cstate1->components[0], cstate2->components[0]);
72}
73
74/*
75 * Direction-independent distance in time
76 */
78 const ompl::base::State *state2) const
79{
80 const auto *cstate1 = static_cast<const CompoundState *>(state1);
81 const auto *cstate2 = static_cast<const CompoundState *>(state2);
82
83 return components_[1]->distance(cstate1->components[1], cstate2->components[1]);
84}
85
87{
88 as<TimeStateSpace>(1)->setBounds(lb, ub);
89}
90
92{
93 return vMax_;
94}
95
97{
98 vMax_ = vMax;
99}
100
102 const ompl::base::State *state2) const
103{
104 double deltaSpace = distanceSpace(state1, state2);
105 return deltaSpace / vMax_;
106}
107
109{
110 return components_[0];
111}
112
117
119{
120 return false;
121}
122
124{
125 return std::numeric_limits<double>::infinity();
126}
127
129{
130 auto extent = getTimeComponent()->isBounded() ? getTimeComponent()->getMaximumExtent() :
131 getSpaceComponent()->getMaximumExtent() / vMax_;
132 eps_ = std::numeric_limits<float>::epsilon() * std::pow(10, std::ceil(std::log10(extent)));
133}
134
The exception type for ompl.
Definition Exception.h:47
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
std::vector< double > weights_
The weight assigned to each component of the state space when computing the compound distance.
Definition StateSpace.h:741
std::vector< StateSpacePtr > components_
The state spaces that make up the compound state space.
Definition StateSpace.h:735
T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition StateSpace.h:590
Definition of a compound state.
Definition State.h:87
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.
void setName(const std::string &name)
Set the name of the state space.
const std::string & getName() const
Get the name of the state space.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op,...