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 {
98 }
99
100 double distance(const State *state1, const State *state2) const override;
101
102 void interpolate(const State *from, const State *to, double t, State *state) const override;
103 virtual void interpolate(const State *from, const State *to, double t, bool &firstTime,
104 ReedsSheppPath &path, State *state) const;
105
106 void sanityChecks() const override
107 {
108 double zero = std::numeric_limits<double>::epsilon();
109 double eps = .1; // rarely such a large error will occur
111 }
112
114 ReedsSheppPath reedsShepp(const State *state1, const State *state2) const;
115
116 protected:
117 virtual void interpolate(const State *from, const ReedsSheppPath &path, double t, State *state) const;
118
120 double rho_;
121 };
122
130 {
131 public:
133 {
134 defaultSettings();
135 }
137 {
138 defaultSettings();
139 }
140 ~ReedsSheppMotionValidator() override = default;
141 bool checkMotion(const State *s1, const State *s2) const override;
142 bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
143
144 private:
145 ReedsSheppStateSpace *stateSpace_;
146 void defaultSettings();
147 };
148 }
149}
150
151#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.
ReedsSheppPath reedsShepp(const State *state1, const State *state2) const
Return the 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)
Definition: SE2StateSpace.h:50
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
virtual void sanityChecks() const
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition: StateSpace.cpp:603
Definition of an abstract state.
Definition: State.h:50
Main namespace. Contains everything in this library.