Esempio n. 1
0
double manhattanHeuristic(const Transform3D &start, const Transform3D &goal)
{
    MPQuaternion sRot = start.getRotation();
    MPQuaternion tRot = goal.getRotation();
    
    MPVec3 difference = MPVec3Subtract(start.getPosition(), goal.getPosition());
    
    float pitchDiff = sRot.x - tRot.x;
    float yawDiff = sRot.y - tRot.y;
    float rollDiff = sRot.z - tRot.z;
    
    return std::abs(difference.x) + std::abs(difference.y) + std::abs(difference.z) + std::abs(pitchDiff) + std::abs(yawDiff) + std::abs(rollDiff);
}
Esempio n. 2
0
bool operator==(const Transform3D &lhs, const Transform3D &rhs)
{
    MPVec3 leftPos = lhs.getPosition();
    MPVec3 rightPos = rhs.getPosition();
    
    MPQuaternion leftRot = lhs.getRotation();
    MPQuaternion rightRot = rhs.getRotation();
    
    // Only consider the (x, y, z) projection of the transform
    // Also, assume that the coordinates are integer-valued
    return (((int)leftPos.x == (int)rightPos.x) &&
            ((int)leftPos.y == (int)rightPos.y) &&
            ((int)leftPos.z == (int)rightPos.z) &&
            // We store the pitch/yaw/roll as rotation xyz
            ((int)leftRot.x == (int)rightRot.x) &&
            ((int)leftRot.y == (int)rightRot.y) &&
            ((int)leftRot.z == (int)rightRot.z));
}
Esempio n. 3
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void Environment3D::worldToPlanner(Transform3D &state) const
{
    MPVec3 pPos = state.getPosition();
    this->worldToPlanner(pPos);
    
    MPQuaternion pRot = state.getRotation();
    this->worldToPlanner(pRot);
    
    state.setPosition(pPos);
    state.setRotation(pRot);
}
Esempio n. 4
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void Environment3D::plannerToWorld(Transform3D &state) const
{
    MPVec3 wPos = state.getPosition();
    this->plannerToWorld(wPos);
    
    MPQuaternion wRot = state.getRotation();
    this->plannerToWorld(wRot);
    
    state.setPosition(wPos);
    state.setRotation(wRot);
}
Esempio n. 5
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int transform3DHash(const Transform3D &t)
{
    const int p1 = 73856093;
    const int p2 = 19349663;
    const int p3 = 83492791;
    const int p4 = 3331333;
    const int p5 = 393919;
    const int p6 = 39916801;
    
    MPVec3 pos = t.getPosition();
    MPQuaternion rot = t.getRotation();
    
    // Assume that the coordinates are integer-valued
    int x = (int)pos.x;
    int y = (int)pos.y;
    int z = (int)pos.z;
    
    int pitch = (int)rot.x;
    int yaw = (int)rot.y;
    int roll = (int)rot.z;
    
    return ((x*p1) ^ (y*p2) ^ (z*p3) ^ (pitch*p4) ^ (yaw*p5) ^ (roll*p6));
}
Esempio n. 6
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double distanceHeuristic(const Transform3D &start, const Transform3D &goal)
{
    return MPVec3EuclideanDistance(start.getPosition(), goal.getPosition());
}