KleinBottleStateSpace.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_BASE_SPACES_KLEINBOTTLE_STATE_SPACE_
#define OMPL_BASE_SPACES_KLEINBOTTLE_STATE_SPACE_
 
#include <ompl/base/StateSpace.h>
#include <ompl/base/spaces/SO2StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
namespace ompl
{
    namespace base
    {
        class KleinBottleStateSampler : public StateSampler
        {
        public:
            KleinBottleStateSampler(const StateSpace *space);
 
            void sampleUniform(State *state) override;
 
            void sampleUniformNear(State *state, const State *near, double distance) override;
 
            void sampleGaussian(State *state, const State *mean, double stdDev) override;
 
        private:
            const double gMax_{4.1455};
        };
 
        class KleinBottleStateSpace : public CompoundStateSpace
        {
        public:
            class StateType : public CompoundStateSpace::StateType
            {
            public:
                StateType() = default;
 
                double getU() const
                {
                    return as<RealVectorStateSpace::StateType>(0)->values[0];
                }
                double getV() const
                {
                    return as<SO2StateSpace::StateType>(1)->value;
                }
 
                void setU(double u)
                {
                    as<RealVectorStateSpace::StateType>(0)->values[0] = u;
                }
                void setV(double v)
                {
                    as<SO2StateSpace::StateType>(1)->value = v;
                }
                void setUV(double u, double v)
                {
                    setU(u);
                    setV(v);
                }
            };
 
            KleinBottleStateSpace();
 
            ~KleinBottleStateSpace() override = default;
 
            StateSamplerPtr allocDefaultStateSampler() const override;
 
            double distance(const State *state1, const State *state2) const override;
 
            void interpolate(const State *from, const State *to, double t, State *state) const override;
 
            State *allocState() const override;
 
            /* \brief Convert a state to a 3D vector to visualize the state
             * space. */
            Eigen::Vector3f toVector(const State *state) const;
        };
    }
}
 
#endif