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KoulesControlSpace.cpp
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34
35/* Author: Beck Chen, Mark Moll */
36
37#include "KoulesConfig.h"
38#include "KoulesStateSpace.h"
39#include "KoulesControlSpace.h"
40#include <ompl/base/spaces/RealVectorStateSpace.h>
41
42namespace ob = ompl::base;
43namespace oc = ompl::control;
44
46{
47 const ob::RealVectorBounds &bounds = space_->as<oc::RealVectorControlSpace>()->getBounds();
48 auto *rcontrol =
49 control->as<oc::RealVectorControlSpace::ControlType>();
50 double r = rng_.uniformReal(bounds.low[0], bounds.high[0]);
51 double theta = rng_.uniformReal(0., 2. * boost::math::constants::pi<double>());
52 rcontrol->values[0] = r * cos(theta);
53 rcontrol->values[1] = r * sin(theta);
54}
55
57{
58 steer(control, state, rng_.uniformReal(0., sideLength), rng_.uniformReal(0., sideLength));
59}
60
61void KoulesControlSampler::steer(oc::Control *control, const ob::State *state, double x, double y)
62{
63 const double* r = state->as<KoulesStateSpace::StateType>()->values;
64 double dx = x - r[0];
65 double dy = y - r[1];
66 double xNrm2 = dx * dx + dy * dy;
67 if (xNrm2 > std::numeric_limits<float>::epsilon())
68 {
69 const ob::RealVectorBounds &bounds = space_->as<oc::RealVectorControlSpace>()->getBounds();
70 double v = rng_.uniformReal(bounds.low[0], bounds.high[0]) / sqrt(xNrm2);
71 auto *rcontrol =
72 control->as<oc::RealVectorControlSpace::ControlType>();
73 rcontrol->values[0] = v * dx;
74 rcontrol->values[1] = v * dy;
75 }
76 else
77 sample(control);
78}
79
80KoulesControlSpace::KoulesControlSpace(unsigned int numKoules)
81 : ompl::control::RealVectorControlSpace(
82 std::make_shared<KoulesStateSpace>(numKoules), 2)
83{
84 bounds_.setLow(shipVmin);
85 bounds_.setHigh(shipVmax);
86}
87
virtual void sample(ompl::control::Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
The lower and upper bounds for an Rn space.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
const ControlSpace * space_
The control space this sampler operates on.
T * as()
Cast this instance to a desired type.
Definition of an abstract control.
Definition Control.h:48
const T * as() const
Cast this instance to a desired type.
Definition Control.h:64
A control space representing Rn.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
Main namespace. Contains everything in this library.
STL namespace.