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<div class="title">BlimpPlanning.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Rice University Software Distribution License</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2010, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All Rights Reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* For a full description see the file named LICENSE.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">*</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">/* Author: Mark Moll */</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#ifndef OMPLAPP_BLIMP_PLANNING_</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#define OMPLAPP_BLIMP_PLANNING_</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "omplapp/apps/AppBase.h"</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <ompl/base/spaces/SE3StateSpace.h></span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <ompl/control/ODESolver.h></span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <ompl/control/spaces/RealVectorControlSpace.h></span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> {</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">namespace </span>app</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  {</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">class </span>BlimpPlanning : <span class="keyword">public</span> AppBase<AppType::CONTROL></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  {</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  BlimpPlanning()</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  : AppBase<AppType::CONTROL>(constructControlSpace(), Motion_3D),</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  odeSolver(std::make_shared<control::ODEBasicSolver<>>(<a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">si_</a>, [this](const control::ODESolver::StateType& q, const control::Control *ctrl, control::ODESolver::StateType& qdot)</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  {</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  ode(q, ctrl, qdot);</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  }))</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  {</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  name_ = std::string(<span class="stringliteral">"Blimp"</span>);</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  setDefaultBounds();</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">si_</a>->setStatePropagator(<a class="code" href="classompl_1_1control_1_1ODESolver.html#a78bf19ebd7fe10d724db7d22d51e5ec5">control::ODESolver::getStatePropagator</a>(odeSolver,</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  [<span class="keyword">this</span>](<span class="keyword">const</span> base::State* state, <span class="keyword">const</span> control::Control* control, <span class="keyword">const</span> <span class="keywordtype">double</span> duration, base::State* result)</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  {</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classompl_1_1app_1_1BlimpPlanning.html"> 52</a></span>  postPropagate(state, control, duration, result);</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  }));</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  }</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  ~BlimpPlanning() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">bool</span> isSelfCollisionEnabled()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  }</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getRobotCount()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  base::ScopedState<> getDefaultStartState() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  base::ScopedState<> getFullStateFromGeometricComponent(<span class="keyword">const</span> base::ScopedState<> &state) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">const</span> base::StateSpacePtr& getGeometricComponentStateSpace()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aa2c3731d645925949b46aa7994a8df01">getStateSpace</a>()->as<base::CompoundStateSpace>()->getSubspace(0);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  }</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDefaultBounds();</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">const</span> base::State* getGeometricComponentStateInternal(<span class="keyword">const</span> base::State* state, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <span class="comment">/*index*/</span>)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">return</span> state->as<base::CompoundState>()->components[0];</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">void</span> postPropagate(<span class="keyword">const</span> base::State* state, <span class="keyword">const</span> control::Control* control, <span class="keywordtype">double</span> duration, base::State* result);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ode(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ODESolver.html#a5503d6e71f840329e7ffc905d1b1436b">control::ODESolver::StateType</a>& q, <span class="keyword">const</span> control::Control *ctrl, <a class="code" href="classompl_1_1control_1_1ODESolver.html#a5503d6e71f840329e7ffc905d1b1436b">control::ODESolver::StateType</a>& qdot);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">static</span> control::ControlSpacePtr constructControlSpace()</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">return</span> std::make_shared<control::RealVectorControlSpace>(constructStateSpace(), 3);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  }</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">static</span> base::StateSpacePtr constructStateSpace();</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">double</span> timeStep_{1e-2};</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  control::ODESolverPtr odeSolver;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  };</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> }</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_aa2c3731d645925949b46aa7994a8df01"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#aa2c3731d645925949b46aa7994a8df01">ompl::geometric::SimpleSetup::getStateSpace</a></div><div class="ttdeci">const base::StateSpacePtr & getStateSpace() const</div><div class="ttdoc">Get the current instance of the state space.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00156">SimpleSetup.h:156</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ODESolver_html_a78bf19ebd7fe10d724db7d22d51e5ec5"><div class="ttname"><a href="classompl_1_1control_1_1ODESolver.html#a78bf19ebd7fe10d724db7d22d51e5ec5">ompl::control::ODESolver::getStatePropagator</a></div><div class="ttdeci">static StatePropagatorPtr getStatePropagator(ODESolverPtr solver, const PostPropagationEvent &postEvent=nullptr)</div><div class="ttdoc">Retrieve a StatePropagator object that solves a system of ordinary differential equations defined by ...</div><div class="ttdef"><b>Definition:</b> <a href="ODESolver_8h_source.html#l00191">ODESolver.h:191</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_a769e167e2959b1ca59fc9b3ea2416f45"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">ompl::geometric::SimpleSetup::si_</a></div><div class="ttdeci">base::SpaceInformationPtr si_</div><div class="ttdoc">The created space information.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00346">SimpleSetup.h:346</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ODESolver_html_a5503d6e71f840329e7ffc905d1b1436b"><div class="ttname"><a href="classompl_1_1control_1_1ODESolver.html#a5503d6e71f840329e7ffc905d1b1436b">ompl::control::ODESolver::StateType</a></div><div class="ttdeci">std::vector< double > StateType</div><div class="ttdoc">Portable data type for the state values.</div><div class="ttdef"><b>Definition:</b> <a href="ODESolver_8h_source.html#l00141">ODESolver.h:141</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
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