ompl::control::OpenDEStateSpace::OpenDEStateSpace(OpenDEEnvironmentPtr env, double positionWeight, double linVelWeight,
double angVelWeight, double orientationWeight)
: env_(std::move(env))
{
setName("OpenDE" + getName());
type_ = base::STATE_SPACE_TYPE_COUNT + 1;
for (unsigned int i = 0; i < env_->stateBodies_.size(); ++i)
{
std::string body = ":B" + std::to_string(i);
addSubspace(std::make_shared<base::RealVectorStateSpace>(3), positionWeight); // position
components_.back()->setName(components_.back()->getName() + body + ":position");
addSubspace(std::make_shared<base::RealVectorStateSpace>(3), linVelWeight); // linear velocity
components_.back()->setName(components_.back()->getName() + body + ":linvel");
addSubspace(std::make_shared<base::RealVectorStateSpace>(3), angVelWeight); // angular velocity
components_.back()->setName(components_.back()->getName() + body + ":angvel");
addSubspace(std::make_shared<base::SO3StateSpace>(), orientationWeight); // orientation
components_.back()->setName(components_.back()->getName() + body + ":orientation");
}
lock();
setDefaultBounds();
}
ompl::control::OpenDEStateSpace::OpenDEStateSpace(const OpenDEEnvironmentPtr &env,
double positionWeight, double linVelWeight, double angVelWeight, double orientationWeight) :
base::CompoundStateSpace(), env_(env)
{
setName("OpenDE" + getName());
type_ = base::STATE_SPACE_TYPE_COUNT + 1;
for (unsigned int i = 0 ; i < env_->stateBodies_.size() ; ++i)
{
std::string body = ":B" + boost::lexical_cast<std::string>(i);
addSubspace(base::StateSpacePtr(new base::RealVectorStateSpace(3)), positionWeight); // position
components_.back()->setName(components_.back()->getName() + body + ":position");
addSubspace(base::StateSpacePtr(new base::RealVectorStateSpace(3)), linVelWeight); // linear velocity
components_.back()->setName(components_.back()->getName() + body + ":linvel");
addSubspace(base::StateSpacePtr(new base::RealVectorStateSpace(3)), angVelWeight); // angular velocity
components_.back()->setName(components_.back()->getName() + body + ":angvel");
addSubspace(base::StateSpacePtr(new base::SO3StateSpace()), orientationWeight); // orientation
components_.back()->setName(components_.back()->getName() + body + ":orientation");
}
lock();
setDefaultBounds();
}
void MediaPlayer::setDefaultProperties(){
mAnimDuration = 0.35f;
mContentAspectRatio = 1.0;
mLayoutFixedAspect = true;
setDefaultBounds(mEngine.getWorldWidth(), mEngine.getWorldHeight());
setWebViewSize(ci::Vec2f::zero());
setCacheImages(false);
}
