Loading...
Searching...
No Matches
KoulesStateSpace.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2013, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Beck Chen, Mark Moll */
36
37#ifndef DEMOS_KOULES_STATESPACE_
38#define DEMOS_KOULES_STATESPACE_
39
40#include "KoulesConfig.h"
41#include <ompl/base/spaces/RealVectorStateSpace.h>
42
44class KoulesStateSpace : public ompl::base::RealVectorStateSpace
45{
46public:
47 KoulesStateSpace(unsigned int numKoules);
48
49 virtual void registerProjections();
50
51 double getMass(unsigned int i) const
52 {
53 return mass_[i];
54 }
55 double getRadius(unsigned int i) const
56 {
57 return radius_[i];
58 }
59 bool isDead(const ompl::base::State* state, unsigned int i) const;
60
61protected:
62 std::vector<double> mass_;
63 std::vector<double> radius_;
64};
66
67#endif
A state space representing Rn. The distance function is the L2 norm.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....