RealVectorBounds.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/spaces/RealVectorBounds.h"
38#include "ompl/util/Exception.h"
39#include <algorithm>
40#include <limits>
41
43{
44 std::fill(low.begin(), low.end(), value);
45}
46
48{
49 std::fill(high.begin(), high.end(), value);
50}
51
52void ompl::base::RealVectorBounds::setLow(unsigned int index, double value)
53{
54 low[index] = value;
55}
56
57void ompl::base::RealVectorBounds::setHigh(unsigned int index, double value)
58{
59 high[index] = value;
60}
61
63{
64 unsigned int n = std::min(low.size(), high.size());
65 std::vector<double> result(n);
66 for (unsigned int i = 0; i < n; ++i)
67 result[i] = high[i] - low[i];
68 return result;
69}
70
72{
73 double v = 1.0;
74 unsigned int n = std::min(low.size(), high.size());
75 for (unsigned int i = 0; i < n; ++i)
76 {
77 double d = high[i] - low[i];
78 v *= d;
79 }
80 return v;
81}
82
84{
85 low.resize(size, 0.0);
86 high.resize(size, 0.0);
87}
88
90{
91 if (low.size() != high.size())
92 throw Exception("Lower and upper bounds are not of same dimension");
93 for (unsigned int i = 0; i < low.size(); ++i)
94 if (low[i] > high[i])
95 throw Exception("Bounds for real vector space seem to be incorrect (lower bound must be stricly less than "
96 "upper bound). Sampling will not be possible");
97}
The exception type for ompl.
Definition: Exception.h:47
std::vector< double > low
Lower bound.
std::vector< double > getDifference() const
Get the difference between the high and low bounds for each dimension: result[i] = high[i] - low[i].
double getVolume() const
Compute the volume of the space enclosed by the bounds.
void setLow(double value)
Set the lower bound in each dimension to a specific value.
void setHigh(double value)
Set the upper bound in each dimension to a specific value.
void resize(std::size_t size)
Change the number of dimensions for the bounds.
void check() const
Check if the bounds are valid (same length for low and high, high[i] > low[i]). Throw an exception if...