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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">* Software License Agreement (BSD 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) 2018, 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">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a 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 name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a 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 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 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 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 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 name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a 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 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 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 name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a 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 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 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 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 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 name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a 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 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 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 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 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 name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Zachary Kingston */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include <ompl/util/PPM.h></span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <boost/filesystem.hpp></span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ConstrainedPlanningCommon.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> pi2 = 2 * boost::math::constants::pi<double>();</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">class </span>TorusConstraint : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1Constraint.html">ompl::base::Constraint</a></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> outer;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> inner;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  TorusConstraint(<span class="keyword">const</span> <span class="keywordtype">double</span> outer, <span class="keyword">const</span> <span class="keywordtype">double</span> inner, <span class="keyword">const</span> std::string &maze)</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  : <a class="code" href="namespaceompl.html">ompl</a>::base::<a class="code" href="classompl_1_1base_1_1Constraint.html#aaefa1497a68c7944e146ff2811023398">Constraint</a>(3, 1), outer(outer), inner(inner), file_(maze)</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>  ppm_.loadFile(maze.c_str());</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</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">void</span> getStartAndGoalStates(Eigen::Ref<Eigen::VectorXd> start, Eigen::Ref<Eigen::VectorXd> goal)<span class="keyword"> const</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="keyword">const</span> <span class="keywordtype">double</span> h = ppm_.getHeight() - 1;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> w = ppm_.getWidth() - 1;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x = 0; x <= w; ++x)</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> y = 0; y <= h; ++y)</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>  Eigen::Vector2d p = {x / w, y / h};</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">auto</span> &c = ppm_.getPixel(x, y);</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">if</span> (c.red == 255 && c.blue == 0 && c.green == 0)</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  mazeToAmbient(p, start);</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>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (c.green == 255 && c.blue == 0 && c.red == 0)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  mazeToAmbient(p, goal);</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>  }</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="keywordtype">void</span> <span class="keyword">function</span>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) <span class="keyword">const</span> <span class="keyword">override</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  {</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  Eigen::Vector3d c = {x[0], x[1], 0};</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  out[0] = (x - outer * c.normalized()).norm() - inner;</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>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a7f15239c4bbc8b1b8a36e7579d47346c">jacobian</a>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> xySquaredNorm = x[0] * x[0] + x[1] * x[1];</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> xyNorm = std::sqrt(xySquaredNorm);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> denom = std::sqrt(x[2] * x[2] + (xyNorm - outer) * (xyNorm - outer));</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> c = (xyNorm - outer) * (xyNorm * xySquaredNorm) / (xySquaredNorm * xySquaredNorm * denom);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  out(0, 0) = x[0] * c;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  out(0, 1) = x[1] * c;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  out(0, 2) = x[2] / denom;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordtype">void</span> ambientToMaze(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  Eigen::Vector3d c = {x[0], x[1], 0};</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>  <span class="keyword">const</span> <span class="keywordtype">double</span> h = ppm_.getHeight();</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> w = ppm_.getWidth();</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  out[0] = std::atan2(x[2], c.norm() - outer) / pi2;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  out[0] += (out[0] < 0);</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  out[0] *= h;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  out[1] = std::atan2(x[1], x[0]) / pi2;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  out[1] += (out[1] < 0);</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  out[1] *= w;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  }</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">void</span> mazeToAmbient(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  Eigen::Vector2d a = x * pi2;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  Eigen::Vector3d b = {std::cos(a[0]), 0, std::sin(a[0])};</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  b *= inner;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  b[0] += outer;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">double</span> norm = std::sqrt(b[0] * b[0] + b[1] * b[1]);</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  out << std::cos(a[1]), std::sin(a[1]), 0;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  out *= norm;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  out[2] = b[2];</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  }</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">bool</span> mazePixel(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x)<span class="keyword"> const</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> h = ppm_.getHeight();</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> w = ppm_.getWidth();</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">if</span> (x[0] < 0 || x[0] >= w || x[1] < 0 || x[1] >= h)</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keyword">const</span> <a class="code" href="structompl_1_1PPM_1_1Color.html">ompl::PPM::Color</a> &c = ppm_.getPixel(x[0], x[1]);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">return</span> !(c.red == 0 && c.blue == 0 && c.green == 0);</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">bool</span> isValid(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keyword">auto</span> &&x = *state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ob::ConstrainedStateSpace::StateType</a>>();</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  Eigen::Vector2d coords;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  ambientToMaze(x, coords);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">return</span> mazePixel(coords);</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  }</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordtype">void</span> dump(std::ofstream &file)<span class="keyword"> const</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  file << outer << std::endl;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  file << inner << std::endl;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  </div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  boost::filesystem::path path(file_);</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  file << boost::filesystem::canonical(path).string() << std::endl;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">const</span> std::string file_;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="classompl_1_1PPM.html">ompl::PPM</a> ppm_;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> };</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">bool</span> torusPlanningOnce(<a class="code" href="classConstrainedProblem.html">ConstrainedProblem</a> &cp, <span class="keyword">enum</span> PLANNER_TYPE planner, <span class="keywordtype">bool</span> output)</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> {</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  cp.setPlanner(planner);</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="comment">// Solve the problem</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ob::PlannerStatus</a> stat = cp.solveOnce(output, <span class="stringliteral">"torus"</span>);</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">if</span> (output)</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  {</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Dumping problem information to `torus_info.txt`."</span>);</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  std::ofstream infofile(<span class="stringliteral">"torus_info.txt"</span>);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  infofile << cp.type << std::endl;</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keyword">dynamic_cast<</span>TorusConstraint *<span class="keyword">></span>(cp.constraint.get())->dump(infofile);</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  infofile.close();</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  }</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  cp.atlasStats();</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">if</span> (output)</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  cp.dumpGraph(<span class="stringliteral">"torus"</span>);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">return</span> stat;</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">bool</span> torusPlanningBench(<a class="code" href="classConstrainedProblem.html">ConstrainedProblem</a> &cp, std::vector<enum PLANNER_TYPE> &planners)</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> {</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  cp.setupBenchmark(planners, <span class="stringliteral">"torus"</span>);</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  cp.runBenchmark();</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> }</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">bool</span> torusPlanning(<span class="keywordtype">bool</span> output, <span class="keyword">enum</span> SPACE_TYPE space, std::vector<enum PLANNER_TYPE> &planners,</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keyword">struct</span> <a class="code" href="structConstrainedOptions.html">ConstrainedOptions</a> &c_opt, <span class="keyword">struct</span> <a class="code" href="structAtlasOptions.html">AtlasOptions</a> &a_opt, <span class="keywordtype">bool</span> bench, <span class="keywordtype">double</span> outer, <span class="keywordtype">double</span> inner,</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keyword">const</span> std::string &maze)</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> {</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="comment">// Create the ambient space state space for the problem.</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keyword">auto</span> rvss = std::make_shared<ob::RealVectorStateSpace>(3);</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html">ob::RealVectorBounds</a> bounds(3);</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  bounds.setLow(-(outer + inner));</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  bounds.setHigh(outer + inner);</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  rvss->setBounds(bounds);</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="comment">// Create a shared pointer to our constraint.</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keyword">auto</span> constraint = std::make_shared<TorusConstraint>(outer, inner, maze);</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <a class="code" href="classConstrainedProblem.html">ConstrainedProblem</a> cp(space, rvss, constraint);</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  cp.setConstrainedOptions(c_opt);</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  cp.setAtlasOptions(a_opt);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  </div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  Eigen::Vector3d start, goal;</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  constraint->getStartAndGoalStates(start, goal);</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  </div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  cp.setStartAndGoalStates(start, goal);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  cp.ss->setStateValidityChecker(std::bind(&TorusConstraint::isValid, constraint, std::placeholders::_1));</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  </div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordflow">if</span> (!bench)</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">return</span> torusPlanningOnce(cp, planners[0], output);</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordflow">return</span> torusPlanningBench(cp, planners);</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> }</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  </div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="keyword">auto</span> help_msg = <span class="stringliteral">"Shows this help message."</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="keyword">auto</span> output_msg = <span class="stringliteral">"Dump found solution path (if one exists) in plain text and planning graph in GraphML to "</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="stringliteral">"`torus_path.txt` and `torus_graph.graphml` respectively."</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> <span class="keyword">auto</span> bench_msg = <span class="stringliteral">"Do benchmarking on provided planner list."</span>;</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="keyword">auto</span> outer_msg = <span class="stringliteral">"Outer radius of torus."</span>;</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="keyword">auto</span> inner_msg = <span class="stringliteral">"Inner radius of torus."</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">auto</span> maze_msg = <span class="stringliteral">"Filename of maze image (in .ppm format) to use as obstacles on the surface of the torus."</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> {</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordtype">bool</span> output, bench;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keyword">enum</span> SPACE_TYPE space = PJ;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  std::vector<enum PLANNER_TYPE> planners = {RRT};</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keyword">struct </span><a class="code" href="structConstrainedOptions.html">ConstrainedOptions</a> c_opt;</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keyword">struct </span><a class="code" href="structAtlasOptions.html">AtlasOptions</a> a_opt;</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordtype">double</span> outer, inner;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  boost::filesystem::path path(__FILE__);</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  std::string maze = (path.parent_path() / <span class="stringliteral">"mazes/thick.ppm"</span>).<span class="keywordtype">string</span>();</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  po::options_description desc(<span class="stringliteral">"Options"</span>);</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  desc.add_options()(<span class="stringliteral">"help,h"</span>, help_msg);</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  desc.add_options()(<span class="stringliteral">"output,o"</span>, po::bool_switch(&output)->default_value(<span class="keyword">false</span>), output_msg);</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  desc.add_options()(<span class="stringliteral">"bench"</span>, po::bool_switch(&bench)->default_value(<span class="keyword">false</span>), bench_msg);</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  desc.add_options()(<span class="stringliteral">"outer"</span>, po::value<double>(&outer)->default_value(2), outer_msg);</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  desc.add_options()(<span class="stringliteral">"inner"</span>, po::value<double>(&inner)->default_value(1), inner_msg);</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  desc.add_options()(<span class="stringliteral">"maze,m"</span>, po::value<std::string>(&maze), maze_msg);</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  </div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  addSpaceOption(desc, &space);</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  addPlannerOption(desc, &planners);</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  addConstrainedOptions(desc, &c_opt);</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  addAtlasOptions(desc, &a_opt);</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  po::variables_map vm;</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  po::store(po::parse_command_line(argc, argv, desc), vm);</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  po::notify(vm);</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  </div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keywordflow">if</span> (vm.count(<span class="stringliteral">"help"</span>))</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  {</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  std::cout << desc << std::endl;</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  }</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  </div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keywordflow">if</span> (maze == <span class="stringliteral">""</span>)</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  {</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"--maze is a required."</span>);</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  }</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(torusPlanning(output, space, planners, c_opt, a_opt, bench, outer, inner, maze));</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html">ompl::base::Constraint</a></div><div class="ttdoc">Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8h_source.html#l00107">Constraint.h:107</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="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassConstrainedProblem_html"><div class="ttname"><a href="classConstrainedProblem.html">ConstrainedProblem</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00254">ConstrainedPlanningCommon.h:254</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_aaefa1497a68c7944e146ff2811023398"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#aaefa1497a68c7944e146ff2811023398">ompl::base::Constraint::Constraint</a></div><div class="ttdeci">Constraint(const unsigned int ambientDim, const unsigned int coDim, double tolerance=magic::CONSTRAINT_PROJECTION_TOLERANCE)</div><div class="ttdoc">Constructor. The dimension of the ambient configuration space as well as the dimension of the functio...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8h_source.html#l00119">Constraint.h:119</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html_a6178474307b3f364184db9999a639af1"><div class="ttname"><a href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">ompl::base::State::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00162">State.h:162</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#l00142">StateSpace.h:142</a></div></div>
<div class="ttc" id="astructConstrainedOptions_html"><div class="ttname"><a href="structConstrainedOptions.html">ConstrainedOptions</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00177">ConstrainedPlanningCommon.h:177</a></div></div>
<div class="ttc" id="aclassompl_1_1PPM_html"><div class="ttname"><a href="classompl_1_1PPM.html">ompl::PPM</a></div><div class="ttdoc">Load and save .ppm files - "portable pixmap format" an image file formats designed to be easily excha...</div><div class="ttdef"><b>Definition:</b> <a href="PPM_8h_source.html#l00078">PPM.h:78</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve()</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="astructompl_1_1PPM_1_1Color_html"><div class="ttname"><a href="structompl_1_1PPM_1_1Color.html">ompl::PPM::Color</a></div><div class="ttdef"><b>Definition:</b> <a href="PPM_8h_source.html#l00113">PPM.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_a7f15239c4bbc8b1b8a36e7579d47346c"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#a7f15239c4bbc8b1b8a36e7579d47346c">ompl::base::Constraint::jacobian</a></div><div class="ttdeci">virtual void jacobian(const State *state, Eigen::Ref< Eigen::MatrixXd > out) const</div><div class="ttdoc">Compute the Jacobian of the constraint function at state. Result is returned in out,...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8cpp_source.html#l00045">Constraint.cpp:45</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="astructAtlasOptions_html"><div class="ttname"><a href="structAtlasOptions.html">AtlasOptions</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00211">ConstrainedPlanningCommon.h:211</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>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorBounds_html"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorBounds.html">ompl::base::RealVectorBounds</a></div><div class="ttdoc">The lower and upper bounds for an Rn space.</div><div class="ttdef"><b>Definition:</b> <a href="RealVectorBounds_8h_source.html#l00111">RealVectorBounds.h:111</a></div></div>
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