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ReedsSheppStateSpace.h
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34
35/* Author: Mark Moll */
36
37#ifndef OMPL_BASE_SPACES_REEDS_SHEPP_STATE_SPACE_
38#define OMPL_BASE_SPACES_REEDS_SHEPP_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 {
64 {
65 public:
68 {
69 RS_NOP = 0,
70 RS_LEFT = 1,
71 RS_STRAIGHT = 2,
72 RS_RIGHT = 3
73 };
78 {
79 public:
81 double t = std::numeric_limits<double>::max(), double u = 0., double v = 0.,
82 double w = 0., double x = 0.);
83 double length() const
84 {
85 return totalLength_;
86 }
87
91 double length_[5];
94 };
95
96 ReedsSheppStateSpace(double turningRadius = 1.0) : rho_(turningRadius)
97 {
99 }
100
101 double distance(const State *state1, const State *state2) const override;
102 unsigned int validSegmentCount(const State *state1, const State *state2) const override
103 {
105 (unsigned int)ceil(distance(state1, state2) / longestValidSegment_);
106 }
107
108 void interpolate(const State *from, const State *to, double t, State *state) const override;
109 virtual void interpolate(const State *from, const State *to, double t, bool &firstTime,
110 ReedsSheppPath &path, State *state) const;
111
112 void sanityChecks() const override
113 {
114 double zero = std::numeric_limits<double>::epsilon();
115 double eps = .1; // rarely such a large error will occur
117 }
118
120 ReedsSheppPath reedsShepp(const State *state1, const State *state2) const;
121
122 protected:
123 virtual void interpolate(const State *from, const ReedsSheppPath &path, double t, State *state) const;
124
126 double rho_;
127 };
128
136 {
137 public:
139 {
140 defaultSettings();
141 }
143 {
144 defaultSettings();
145 }
146 ~ReedsSheppMotionValidator() override = default;
147 bool checkMotion(const State *s1, const State *s2) const override;
148 bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
149
150 private:
151 ReedsSheppStateSpace *stateSpace_;
152 void defaultSettings();
153 };
154 }
155}
156
157#endif
Abstract definition for a class checking the validity of motions – path segments between states....
MotionValidator(SpaceInformation *si)
Constructor.
A Reeds-Shepp motion validator that only uses the state validity checker. Motions are checked for val...
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 ReedsShepp path.
An SE(2) state space where distance is measured by the length of Reeds-Shepp curves.
void sanityChecks() const override
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
ReedsSheppPathSegmentType
The Reeds-Shepp path segment types.
unsigned int validSegmentCount(const State *state1, const State *state2) const override
Count how many segments of the "longest valid length" fit on the motion from state1 to state2....
ReedsSheppPath reedsShepp(const State *state1, const State *state2) const
Return a shortest Reeds-Shepp path from SE(2) state state1 to SE(2) state state2.
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....
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...
static const ReedsSheppPathSegmentType reedsSheppPathType[18][5]
Reeds-Shepp path types.
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_INTERPOLATION
Check whether calling StateSpace::interpolate() works as expected.
Definition StateSpace.h:145
int type_
A type assigned for this state space.
Definition StateSpace.h:531
virtual void sanityChecks() const
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
double longestValidSegment_
The longest valid segment at the time setup() was called.
Definition StateSpace.h:543
unsigned int longestValidSegmentCountFactor_
The factor to multiply the value returned by validSegmentCount(). Rarely used but useful for things l...
Definition StateSpace.h:547
Definition of an abstract state.
Definition State.h:50
@ STATE_SPACE_REEDS_SHEPP
ompl::base::ReedsSheppStateSpace
Main namespace. Contains everything in this library.