POSQStateSpace.h

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#pragma once
 
/* Author: Mark Moll */
 
// Adapted by Luigi Palmieri CR/AER to combine it with POSQSteering
 
#include <ompl/base/MotionValidator.h>
#include <ompl/base/spaces/SE2StateSpace.h>
#include <boost/math/constants/constants.hpp>
 
#include "POSQ.hpp"
 
class POSQStateSpace : public ompl::base::SE2StateSpace {
 public:
  POSQStateSpace() { initialize(); }
 
  ~POSQStateSpace() override { delete state_space_; }
 
  void initialize();
 
  double distance(const ompl::base::State *state1,
                  const ompl::base::State *state2) const override;
 
  void interpolate(const ompl::base::State *from, const ompl::base::State *to,
                   double t, ompl::base::State *state) const override;
 
  virtual void interpolate(const ompl::base::State *from,
                           const ompl::base::State *to, double t,
                           bool &firstTime, vector<UnicycleState> &states,
                           ompl::base::State *state) const;
 
  virtual void interpolate(const ompl::base::State *from,
                           const vector<UnicycleState> &states, double t,
                           ompl::base::State *state) const;
 
  void sanityChecks() const override {
    std::cout << "sanity check!!!!" << std::endl;
    double zero = std::numeric_limits<double>::epsilon();
    double eps = .1;  // rarely such a large error will occur
    ompl::base::StateSpace::sanityChecks(zero, eps, ~STATESPACE_INTERPOLATION);
  }
 
 protected:
  // virtual void interpolate(const State *from, double t, State *state) const;
 
  POSQ *state_space_;
};
 
class POSQMotionValidator : public ompl::base::MotionValidator {
 public:
  POSQMotionValidator(const ompl::base::SpaceInformationPtr &si)
      : ompl::base::MotionValidator(si) {
    defaultSettings();
  }
 
  ~POSQMotionValidator() override = default;
  bool checkMotion(const ompl::base::State *s1,
                   const ompl::base::State *s2) const override;
  bool checkMotion(
      const ompl::base::State *s1, const ompl::base::State *s2,
      std::pair<ompl::base::State *, double> &lastValid) const override;
 
 private:
  POSQStateSpace *stateSpace_;
  void defaultSettings();
};