Wraps an aikido StateSpace into a space recognized by OMPL. More...

#include <aikido/planner/ompl/GeometricStateSpace.hpp>

Inheritance diagram for aikido::planner::ompl::GeometricStateSpace:

Classes
class	StateType
	Wraps an aikido::statespace::StateSpace::State in an OMPL StateType. More...

Public Member Functions
	GeometricStateSpace (statespace::ConstStateSpacePtr sspace, statespace::ConstInterpolatorPtr interpolator, distance::DistanceMetricPtr dmetric, constraint::SampleablePtr sampler, constraint::ConstTestablePtr boundsConstraint, constraint::ProjectablePtr boundsProjection, double maxDistanceBetweenValidityChecks)
	Construct a state space. More...

unsigned int	getDimension () const override
	Get the dimension of the space. More...

double	getMaximumExtent () const override
	Get the maximum value a call to distance() can return (or an upper bound). More...

double	getMeasure () const

void	enforceBounds (::ompl::base::State *state) const override
	Bring the state within the bounds of the statespace using boundsProjection. More...

bool	satisfiesBounds (const ::ompl::base::State *state) const override
	Check if a state satisfies the boundsConstraint. More...

void	copyState (::ompl::base::State destination, const ::ompl::base::State source) const override
	Copy the value of one state to another. More...

double	distance (const ::ompl::base::State state1, const ::ompl::base::State state2) const override
	Computes distance between two states using the dmetric. More...

bool	equalStates (const ::ompl::base::State state1, const ::ompl::base::State state2) const override
	Check state equality. More...

void	interpolate (const ::ompl::base::State from, const ::ompl::base::State to, double t, ::ompl::base::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. More...

::ompl::base::StateSamplerPtr	allocDefaultStateSampler () const override
	Allocate an instance of the state sampler for this space. More...

::ompl::base::State *	allocState () const override
	Allocate a state that can store a point in the described space. More...

::ompl::base::State *	allocState (const statespace::StateSpace::State *state) const
	Allocate a state constaining a copy of the aikido state. More...

void	freeState (::ompl::base::State *state) const override
	Free the memory of the allocated state. More...

statespace::ConstStateSpacePtr	getAikidoStateSpace () const
	Return the Aikido StateSpace that this OMPL StateSpace wraps. More...

aikido::statespace::ConstInterpolatorPtr	getInterpolator () const
	Return the interpolator used to interpolate between states in the space. More...

aikido::constraint::ConstTestablePtr	getBoundsConstraint () const
	Return the bounds constraint for the statespace. More...

double	getMaxDistanceBetweenValidityChecks () const
	Returns the collision checking resolution. More...

Private Attributes
statespace::ConstStateSpacePtr	mStateSpace
	The AIKIDO statespace to be exposed to OMPL. More...

statespace::ConstInterpolatorPtr	mInterpolator
	An aikido interpolator to interpolate between states of the statespace. More...

distance::DistanceMetricPtr	mDistance
	Distance metric to compute distance between states in the statespace. More...

constraint::SampleablePtr	mSampler
	State sampler used to sample states in the statespace. More...

constraint::ConstTestablePtr	mBoundsConstraint
	Constraint to determine if a state is within statespace bounds. More...

constraint::ProjectablePtr	mBoundsProjection
	A Projectable that projects a state within valid bounds of statespace. More...

double	mMaxDistanceBetweenValidityChecks
	Collision checking resolution. More...

Detailed Description

Wraps an aikido StateSpace into a space recognized by OMPL.

Constructor & Destructor Documentation

◆ GeometricStateSpace()

aikido::planner::ompl::GeometricStateSpace::GeometricStateSpace	(	statespace::ConstStateSpacePtr	sspace,
		statespace::ConstInterpolatorPtr	interpolator,
		distance::DistanceMetricPtr	dmetric,
		constraint::SampleablePtr	sampler,
		constraint::ConstTestablePtr	boundsConstraint,
		constraint::ProjectablePtr	boundsProjection,
		double	maxDistanceBetweenValidityChecks
	)

Construct a state space.

Parameters

[in]	sspace	The aikido::statespace::StateSpace to expose to OMPL
[in]	interpolator	An aikido interpolator used by the interpolate method
[in]	dmetric	The distance metric to use to compute distance between two states in the StateSpace
[in]	sampler	A state sampler used to sample new states in the StateSpace
[in]	boundsConstraint	A Testable used to determine whether states fall with in bounds defined on the space.
[in]	boundsProjection	A Projectable that can be used to project a state back within the valid boundary defined on the space.
[in]	maxDistanceBetweenValidityChecks	The maximum distance (under dmetric) between validity checking two successive points on a tree extension or an edge in a graph. Defines the "discreteness" of statespace.

Member Function Documentation

◆ allocDefaultStateSampler()

::ompl::base::StateSamplerPtr aikido::planner::ompl::GeometricStateSpace::allocDefaultStateSampler ( ) const

override

Allocate an instance of the state sampler for this space.

◆ allocState() [1/2]

::ompl::base::State* aikido::planner::ompl::GeometricStateSpace::allocState ( ) const

override

Allocate a state that can store a point in the described space.

◆ allocState() [2/2]

::ompl::base::State* aikido::planner::ompl::GeometricStateSpace::allocState ( const statespace::StateSpace::State * state ) const

Allocate a state constaining a copy of the aikido state.

Parameters

[in] state The aikido state to copy and wrap in an OMPL state

◆ copyState()

void aikido::planner::ompl::GeometricStateSpace::copyState	(	::ompl::base::State *	destination,
		const ::ompl::base::State *	source
	)		const

override

Copy the value of one state to another.

Parameters

[out]	destination	The state to copy to.
[in]	source	The state to copy from.

◆ distance()

double aikido::planner::ompl::GeometricStateSpace::distance	(	const ::ompl::base::State *	state1,
		const ::ompl::base::State *	state2
	)		const

override

Computes distance between two states using the dmetric.

Parameters

[in]	state1	The first state.
[in]	state2	The second state.

◆ enforceBounds()

void aikido::planner::ompl::GeometricStateSpace::enforceBounds ( ::ompl::base::State * state ) const

override

Bring the state within the bounds of the statespace using boundsProjection.

Parameters

[in] state The state to modify.

◆ equalStates()

bool aikido::planner::ompl::GeometricStateSpace::equalStates	(	const ::ompl::base::State *	state1,
		const ::ompl::base::State *	state2
	)		const

override

Check state equality.

Returns true if the distance between the states less than EQUALITY_EPSILON.

Parameters

[in]	state1	The first state
[in]	state2	The second state

◆ freeState()

void aikido::planner::ompl::GeometricStateSpace::freeState ( ::ompl::base::State * state ) const

override

Free the memory of the allocated state.

This also frees the memory of the wrapped aikido state.

Parameters

[in] state The state to free.

◆ getAikidoStateSpace()

statespace::ConstStateSpacePtr aikido::planner::ompl::GeometricStateSpace::getAikidoStateSpace ( ) const

Return the Aikido StateSpace that this OMPL StateSpace wraps.

◆ getBoundsConstraint()

aikido::constraint::ConstTestablePtr aikido::planner::ompl::GeometricStateSpace::getBoundsConstraint ( ) const

Return the bounds constraint for the statespace.

Used to specify constraints to the OMPL planner.

◆ getDimension()

unsigned int aikido::planner::ompl::GeometricStateSpace::getDimension ( ) const

override

Get the dimension of the space.

◆ getInterpolator()

aikido::statespace::ConstInterpolatorPtr aikido::planner::ompl::GeometricStateSpace::getInterpolator ( ) const

Return the interpolator used to interpolate between states in the space.

◆ getMaxDistanceBetweenValidityChecks()

double aikido::planner::ompl::GeometricStateSpace::getMaxDistanceBetweenValidityChecks ( ) const

Returns the collision checking resolution.

◆ getMaximumExtent()

double aikido::planner::ompl::GeometricStateSpace::getMaximumExtent ( ) const

override

Get the maximum value a call to distance() can return (or an upper bound).

For unbounded state spaces, this function can return infinity.

◆ getMeasure()

double aikido::planner::ompl::GeometricStateSpace::getMeasure ( ) const

◆ interpolate()

void aikido::planner::ompl::GeometricStateSpace::interpolate	(	const ::ompl::base::State *	from,
		const ::ompl::base::State *	to,
		double	t,
		::ompl::base::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.

Parameters

[in]	from	The state that begins the segment.
[in]	to	The state that ends the segment.
[in]	t	The interpolation parameter (between 0 and 1).
[out]	state	The result of the interpolation.

◆ satisfiesBounds()

bool aikido::planner::ompl::GeometricStateSpace::satisfiesBounds ( const ::ompl::base::State * state ) const

override

Check if a state satisfies the boundsConstraint.

Parameters

[in] state The state to check.

Member Data Documentation

◆ mBoundsConstraint

constraint::ConstTestablePtr aikido::planner::ompl::GeometricStateSpace::mBoundsConstraint

private

Constraint to determine if a state is within statespace bounds.

◆ mBoundsProjection

constraint::ProjectablePtr aikido::planner::ompl::GeometricStateSpace::mBoundsProjection

private

A Projectable that projects a state within valid bounds of statespace.

◆ mDistance

distance::DistanceMetricPtr aikido::planner::ompl::GeometricStateSpace::mDistance

private

Distance metric to compute distance between states in the statespace.

◆ mInterpolator

statespace::ConstInterpolatorPtr aikido::planner::ompl::GeometricStateSpace::mInterpolator

private

An aikido interpolator to interpolate between states of the statespace.

◆ mMaxDistanceBetweenValidityChecks

double aikido::planner::ompl::GeometricStateSpace::mMaxDistanceBetweenValidityChecks

private

Collision checking resolution.

◆ mSampler

constraint::SampleablePtr aikido::planner::ompl::GeometricStateSpace::mSampler

private

State sampler used to sample states in the statespace.

◆ mStateSpace

statespace::ConstStateSpacePtr aikido::planner::ompl::GeometricStateSpace::mStateSpace

private

The AIKIDO statespace to be exposed to OMPL.

Classes

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GeometricStateSpace()

Member Function Documentation

◆ allocDefaultStateSampler()

◆ allocState() [1/2]

◆ allocState() [2/2]

◆ copyState()

◆ distance()

◆ enforceBounds()

◆ equalStates()

◆ freeState()

◆ getAikidoStateSpace()

◆ getBoundsConstraint()

◆ getDimension()

◆ getInterpolator()

◆ getMaxDistanceBetweenValidityChecks()

◆ getMaximumExtent()

◆ getMeasure()

◆ interpolate()

◆ satisfiesBounds()

Member Data Documentation

◆ mBoundsConstraint

◆ mBoundsProjection

◆ mDistance

◆ mInterpolator

◆ mMaxDistanceBetweenValidityChecks

◆ mSampler

◆ mStateSpace