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KoulesStateSpace.cpp
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34
35/* Author: Beck Chen, Mark Moll */
36
37#include "KoulesConfig.h"
38#include "KoulesStateSpace.h"
39#include "KoulesProjection.h"
40
41namespace ob = ompl::base;
42
43KoulesStateSpace::KoulesStateSpace(unsigned int numKoules)
44 : RealVectorStateSpace(4 * numKoules + 5), mass_(numKoules + 1, kouleMass),
45 radius_(numKoules + 1, kouleRadius)
46{
47 mass_[0] = shipMass;
48 radius_[0] = shipRadius;
49 setName("Koules" + std::to_string(numKoules) + getName());
50 // layout: (x_s y_s vx_s vy_s theta_s ... x_i y_i vx_i vy_i ... ),
51 // where (x_i, y_i) is the position of koule i (i=1,..,numKoules),
52 // (vx_i, vy_i) its velocity, (x_s, y_s) the position of the ship,
53 // (vx_s, vy_s) its velocity, and theta_s its orientation.
54
55 // create the bounds
56 unsigned int j = 0;
57 // set the bounds for the ship's position
58 bounds_.setLow(j, shipRadius);
59 bounds_.setHigh(j++, sideLength - shipRadius);
60 bounds_.setLow(j, shipRadius);
61 bounds_.setHigh(j++, sideLength - shipRadius);
62 // set the bounds for the ship's velocity
63 bounds_.setLow(j, -10.);
64 bounds_.setHigh(j++, 10.);
65 bounds_.setLow(j, -10.);
66 bounds_.setHigh(j++, 10.);
67 // set bounds on orientation
68 bounds_.setLow(j, -boost::math::constants::pi<double>());
69 bounds_.setHigh(j++, boost::math::constants::pi<double>());
70 for (unsigned int i = 0; i < numKoules; ++i)
71 {
72 // set the bounds for koule i's position
73 bounds_.setLow(j, -2. * kouleRadius);
74 bounds_.setHigh(j++, sideLength + 2. * kouleRadius);
75 bounds_.setLow(j, -2. * kouleRadius);
76 bounds_.setHigh(j++, sideLength + 2. * kouleRadius);
77 // set the bounds for koule i's velocity
78 bounds_.setLow(j, -10);
79 bounds_.setHigh(j++, 10.);
80 bounds_.setLow(j, -10.);
81 bounds_.setHigh(j++, 10.);
82 }
83}
84
85void KoulesStateSpace::registerProjections()
86{
87 registerDefaultProjection(std::make_shared<KoulesProjection>(this, 3));
88 registerProjection("PDSTProjection", std::make_shared<KoulesProjection>(this, (getDimension() - 1) / 2 + 1));
89}
90
91bool KoulesStateSpace::isDead(const ompl::base::State* state, unsigned int i) const
92{
93 const auto* s = static_cast<const StateType*>(state);
94 return s->values[i != 0u ? 4 * i + 1 : 0] == -2. * kouleRadius;
95}
Definition of an abstract state.
Definition: State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...