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ProjectedStateSpace.cpp
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34
35/* Author: Zachary Kingston */
36
37#include "ompl/base/spaces/constraint/ProjectedStateSpace.h"
38
39#include <Eigen/Core>
40#include <utility>
41
43
45
47 : WrapperStateSampler(space, std::move(sampler)), constraint_(space->getConstraint())
48{
49}
50
52{
54 constraint_->project(state);
55 space_->enforceBounds(state);
56}
57
58void ompl::base::ProjectedStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
59{
60 WrapperStateSampler::sampleUniformNear(state, near, distance);
61 constraint_->project(state);
62 space_->enforceBounds(state);
63}
64
65void ompl::base::ProjectedStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
66{
67 WrapperStateSampler::sampleGaussian(state, mean, stdDev);
68 constraint_->project(state);
69 space_->enforceBounds(state);
70}
71
73
75
76bool ompl::base::ProjectedStateSpace::discreteGeodesic(const State *from, const State *to, bool interpolate,
77 std::vector<State *> *geodesic) const
78{
79 // Save a copy of the from state.
80 if (geodesic != nullptr)
81 {
82 geodesic->clear();
83 geodesic->push_back(cloneState(from));
84 }
85
86 const double tolerance = delta_;
87
88 // No need to traverse the manifold if we are already there.
89 double dist, step, total = 0;
90 if ((dist = distance(from, to)) <= tolerance)
91 return true;
92
93 const double max = dist * lambda_;
94
95 auto previous = cloneState(from);
96 auto scratch = allocState();
97
98 auto &&svc = si_->getStateValidityChecker();
99
100 do
101 {
102 WrapperStateSpace::interpolate(previous, to, delta_ / dist, scratch);
103
104 // Project new state onto constraint manifold
105 if (!constraint_->project(scratch) // not on manifold
106 || !(interpolate || svc->isValid(scratch)) // not valid
107 || (step = distance(previous, scratch)) > lambda_ * delta_) // deviated
108 break;
109
110 // Check if we have wandered too far
111 total += step;
112 if (total > max)
113 break;
114
115 // Check if we are no closer than before
116 const double newDist = distance(scratch, to);
117 if (newDist >= dist)
118 break;
119
120 dist = newDist;
121 copyState(previous, scratch);
122
123 // Store the new state
124 if (geodesic != nullptr)
125 geodesic->push_back(cloneState(scratch));
126
127 } while (dist >= tolerance);
128
129 freeState(scratch);
130 freeState(previous);
131
132 return dist <= tolerance;
133}
ProjectedStateSampler(const ProjectedStateSpace *space, StateSamplerPtr sampler)
Constructor.
void sampleUniform(State *state) override
Sample a state uniformly in ambient space and project to the manifold. Return sample in state.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state uniformly from a normal distribution with given mean and stdDev in ambient space and p...
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state uniformly from the ball with center near and radius distance in ambient space and proj...
ConstrainedStateSpace encapsulating a projection-based methodology for planning with constraints.
bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const override
Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...
A shared pointer wrapper for ompl::base::StateSampler.
Definition of an abstract state.
Definition State.h:50
A state sampler that wraps around another state sampler.
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a nearby state using underlying sampler.
void sampleUniform(State *state) override
Sample a state using underlying sampler.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state within a Gaussian distribution using underlying sampler.
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....
STL namespace.