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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 {
63 class ReedsSheppStateSpace : public SE2StateSpace
64 {
65 public:
68 {
69 RS_NOP = 0,
70 RS_LEFT = 1,
71 RS_STRAIGHT = 2,
72 RS_RIGHT = 3
73 };
74
77 class ReedsSheppPath
78 {
79 public:
80 ReedsSheppPath(const ReedsSheppPathSegmentType *type = reedsSheppPathType[0],
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
135 class ReedsSheppMotionValidator : public MotionValidator
136 {
137 public:
138 ReedsSheppMotionValidator(SpaceInformation *si) : MotionValidator(si)
139 {
140 defaultSettings();
141 }
142 ReedsSheppMotionValidator(const SpaceInformationPtr &si) : MotionValidator(si)
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
MotionValidator(SpaceInformation *si)
Constructor.
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.
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 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
This namespace contains sampling based planning routines shared by both planning under geometric cons...
@ STATE_SPACE_REEDS_SHEPP
ompl::base::ReedsSheppStateSpace
Main namespace. Contains everything in this library.