MorseEnvironment.h
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34
35/* Author: Caleb Voss */
36
37#ifndef OMPL_EXTENSION_MORSE_ENVIRONMENT_
38#define OMPL_EXTENSION_MORSE_ENVIRONMENT_
39
40#include "ompl/config.h"
41#if OMPL_EXTENSION_MORSE == 0
42#error MORSE extension not built
43#endif
44
45#include "ompl/base/State.h"
46#include "ompl/util/ClassForward.h"
47
48#include <mutex>
49
50#include <limits>
51#include <vector>
52
53namespace ompl
54{
55 namespace base
56 {
58
59 OMPL_CLASS_FORWARD(MorseEnvironment);
61
67 {
68 public:
70 const unsigned int controlDim_;
71
73 const std::vector<double> controlBounds_;
74
76 const unsigned int rigidBodies_;
77
79 std::vector<double> positionBounds_;
80
82 std::vector<double> linvelBounds_;
83
85 std::vector<double> angvelBounds_;
86
88 double stepSize_;
89
91 unsigned int minControlSteps_;
92
94 unsigned int maxControlSteps_;
95
98
100 mutable std::mutex mutex_;
101
102 MorseEnvironment(const unsigned int controlDim, const std::vector<double> &controlBounds,
103 const unsigned int rigidBodies, const std::vector<double> &positionBounds,
104 const std::vector<double> &linvelBounds, const std::vector<double> &angvelBounds,
105 const double stepSize, const unsigned int minControlSteps,
106 const unsigned int maxControlSteps)
107 : controlDim_(controlDim)
108 , controlBounds_(controlBounds)
109 , rigidBodies_(rigidBodies)
110 , positionBounds_(positionBounds)
111 , linvelBounds_(linvelBounds)
112 , angvelBounds_(angvelBounds)
113 , stepSize_(stepSize)
114 , minControlSteps_(minControlSteps)
115 , maxControlSteps_(maxControlSteps)
116 , simRunning_(true)
117 {
118 // Replace infinite bounds with very large bounds, so, e.g., sampling can still work
119 for (auto &bound : positionBounds_)
120 {
121 if (bound == std::numeric_limits<double>::infinity())
122 bound = std::numeric_limits<double>::max() / 2;
123 else if (bound == -std::numeric_limits<double>::infinity())
124 bound = -std::numeric_limits<double>::max() / 2;
125 }
126 for (auto &bound : linvelBounds_)
127 {
128 if (bound == std::numeric_limits<double>::infinity())
129 bound = std::numeric_limits<double>::max() / 2;
130 else if (bound == -std::numeric_limits<double>::infinity())
131 bound = -std::numeric_limits<double>::max() / 2;
132 }
133 for (auto &bound : angvelBounds_)
134 {
135 if (bound == std::numeric_limits<double>::infinity())
136 bound = std::numeric_limits<double>::max() / 2;
137 else if (bound == -std::numeric_limits<double>::infinity())
138 bound = -std::numeric_limits<double>::max() / 2;
139 }
140 }
141
143 {
144 }
145
147 void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const;
148
149 // These functions require interprocess communication and are left to be implemented in Python
150
152 virtual void readState(State *state) = 0;
153
155 virtual void writeState(const State *state) = 0;
156
158 virtual void applyControl(const std::vector<double> &control) = 0;
159
161 virtual void worldStep(const double dur) = 0;
162 };
163 }
164}
165
166#endif
This class contains the MORSE constructs OMPL needs to know about when planning.
unsigned int maxControlSteps_
The maximum number of times a control is applied in sequence.
unsigned int minControlSteps_
The minimum number of times a control is applied in sequence.
virtual void worldStep(const double dur)=0
Proceed with the simulation for the given number of seconds.
const std::vector< double > controlBounds_
Upper and lower bounds for each control dimension.
virtual void applyControl(const std::vector< double > &control)=0
Configure simulation to proceed under a new control.
double stepSize_
The simulation step size.
bool simRunning_
Indicates whether the simulation has been shut down externally.
const unsigned int controlDim_
The dimension of the control space for this simulation.
std::vector< double > positionBounds_
Upper and lower bounds on position in each spatial dimension.
std::vector< double > angvelBounds_
Upper and lower bounds on angular velocity in each spatial dimension.
virtual void writeState(const State *state)=0
Overwrite the internal state of the simulation.
std::vector< double > linvelBounds_
Upper and lower bounds on linear velocity in each spatial dimension.
std::mutex mutex_
Lock to use when performing simulations in the world.
virtual void readState(State *state)=0
Query the internal state of the simulation.
const unsigned int rigidBodies_
The number of rigid bodies in the simulation.
void getControlBounds(std::vector< double > &lower, std::vector< double > &upper) const
Get the control bounds – the bounding box in which to sample controls.
Definition of an abstract state.
Definition: State.h:50
Main namespace. Contains everything in this library.