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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2014, Rice University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Zachary Kingston */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "ompl/base/Constraint.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "ompl/base/spaces/constraint/ConstrainedStateSpace.h"</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keywordtype">void</span> ompl::base::Constraint::function(<span class="keyword">const</span> State *state, Eigen::Ref<Eigen::VectorXd> out)<span class="keyword"> const</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> function(*state->as<<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ConstrainedStateSpace::StateType</a>>(), out);</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>}</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="keywordtype">void</span> ompl::base::Constraint::jacobian(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *state, Eigen::Ref<Eigen::MatrixXd> out)<span class="keyword"> const</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> jacobian(*state->as<<a class="code hl_class" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>(), out);</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>}</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keywordtype">void</span> ompl::base::Constraint::jacobian(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out)<span class="keyword"> const</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> Eigen::VectorXd y1 = x;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> Eigen::VectorXd y2 = x;</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> Eigen::VectorXd t1(getCoDimension());</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> Eigen::VectorXd t2(getCoDimension());</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="comment">// Use a 7-point central difference stencil on each column.</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordflow">for</span> (std::size_t j = 0; j < n_; j++)</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> {</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keyword">const</span> <span class="keywordtype">double</span> ax = std::fabs(x[j]);</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="comment">// Make step size as small as possible while still giving usable accuracy.</span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">const</span> <span class="keywordtype">double</span> h = std::sqrt(std::numeric_limits<double>::epsilon()) * (ax >= 1 ? ax : 1);</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="comment">// Can't assume y1[j]-y2[j] == 2*h because of precision errors.</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> y1[j] += h;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> y2[j] -= h;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> function(y1, t1);</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> function(y2, t2);</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">const</span> Eigen::VectorXd m1 = (t1 - t2) / (y1[j] - y2[j]);</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> y1[j] += h;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> y2[j] -= h;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> function(y1, t1);</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> function(y2, t2);</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">const</span> Eigen::VectorXd m2 = (t1 - t2) / (y1[j] - y2[j]);</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> y1[j] += h;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> y2[j] -= h;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> function(y1, t1);</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> function(y2, t2);</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keyword">const</span> Eigen::VectorXd m3 = (t1 - t2) / (y1[j] - y2[j]);</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> out.col(j) = 1.5 * m1 - 0.6 * m2 + 0.1 * m3;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="comment">// Reset for next iteration.</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> y1[j] = y2[j] = x[j];</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> }</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span>}</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span><span class="keywordtype">bool</span> ompl::base::Constraint::project(<a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordflow">return</span> project(*state->as<<a class="code hl_class" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>());</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span>}</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span><span class="keywordtype">bool</span> ompl::base::Constraint::project(Eigen::Ref<Eigen::VectorXd> x)<span class="keyword"> const</span></div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="comment">// Newton's method</span></div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> iter = 0;</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keywordtype">double</span> norm = 0;</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> Eigen::VectorXd f(getCoDimension());</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> Eigen::MatrixXd j(getCoDimension(), n_);</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">const</span> <span class="keywordtype">double</span> squaredTolerance = tolerance_ * tolerance_;</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> function(x, f);</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordflow">while</span> ((norm = f.squaredNorm()) > squaredTolerance && iter++ < maxIterations_)</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> {</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> jacobian(x, j);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> x -= j.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(f);</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> function(x, f);</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> }</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordflow">return</span> norm < squaredTolerance;</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span>}</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span><span class="keywordtype">double</span> ompl::base::Constraint::distance(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordflow">return</span> distance(*state->as<<a class="code hl_class" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>());</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span>}</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span><span class="keywordtype">double</span> ompl::base::Constraint::distance(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x)<span class="keyword"> const</span></div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> Eigen::VectorXd f(getCoDimension());</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> function(x, f);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordflow">return</span> f.norm();</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span>}</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span><span class="keywordtype">bool</span> ompl::base::Constraint::isSatisfied(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordflow">return</span> isSatisfied(*state->as<<a class="code hl_class" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>());</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span>}</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span><span class="keywordtype">bool</span> ompl::base::Constraint::isSatisfied(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x)<span class="keyword"> const</span></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> Eigen::VectorXd f(getCoDimension());</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> function(x, f);</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordflow">return</span> f.allFinite() && f.squaredNorm() <= tolerance_ * tolerance_;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span>}</div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ompl::base::ConstrainedStateSpace::StateType</a></div><div class="ttdoc">A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8h_source.html#l00170">ConstrainedStateSpace.h:171</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a358860aabda701b73fb0fe01cbdfb0d3"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::StateSpace::StateType</a></div><div class="ttdeci">ompl::base::State StateType</div><div class="ttdoc">Define the type of state allocated by this space.</div><div class="ttdef"><b>Definition</b> <a href="StateSpace_8h_source.html#l00078">StateSpace.h:78</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00049">State.h:50</a></div></div>
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