ompl::base::RealVectorStateSpace Class Reference

A state space representing Rⁿ. The distance function is the L2 norm. More...

#include <RealVectorStateSpace.h>

Inheritance diagram for ompl::base::RealVectorStateSpace:

Classes
class	StateType
	The definition of a state in Rⁿ More...
Public Member Functions
void	addDimension (const std::string &name, double minBound=0.0, double maxBound=0.0)
	Increase the dimensionality of the state space by 1 and specify the name of this dimension. Optionally, bounds can be specified for this added dimension. setup() will need to be called after adding dimensions. This function is a wrapper for the previous definition of addDimension().
void	addDimension (double minBound=0.0, double maxBound=0.0)
	Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this added dimension. setup() will need to be called after adding dimensions.
virtual State *	allocState (void) const
	Allocate a state that can store a point in the described space.
virtual StateSamplerPtr	allocStateSampler (void) const
	Allocate an instance of a uniform state sampler for this space.
virtual void	copyState (State destination, const State source) const
	Copy a state to another. The memory of source and destination should NOT overlap.
virtual double	distance (const State state1, const State state2) const
	Computes distance to between two states. This value will always be between 0 and getMaximumExtent().
virtual void	enforceBounds (State *state) const
	Bring the state within the bounds of the state space.
virtual bool	equalStates (const State state1, const State state2) const
	Checks whether two states are equal.
virtual void	freeState (State *state) const
	Free the memory of the allocated state.
const RealVectorBounds &	getBounds (void) const
	Get the bounds for this state space.
virtual unsigned int	getDimension (void) const
	Get the dimension of the space.
int	getDimensionIndex (const std::string &name) const
	Get the index of a specific dimension, by name. Return -1 if name is not found.
const std::string &	getDimensionName (unsigned int index) const
	Each dimension can optionally have a name associated to it. If it does, this function returns that name. Return empty string otherwise.
virtual double	getMaximumExtent (void) const
	Get the maximum value a call to distance() can return.
virtual double *	getValueAddressAtIndex (State *state, const unsigned int index) const
	Many states contain a number of double values. This function provides a means to get the memory address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is NULL.
virtual void	interpolate (const State from, const State to, const double t, State *state) const
	Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.
virtual void	printSettings (std::ostream &out) const
	Print the settings for this state space to a stream.
virtual void	printState (const State *state, std::ostream &out) const
	Print a state to a stream.
	RealVectorStateSpace (unsigned int dim=0)
	Constructor. The dimension of of the space needs to be specified. A space representing R^dim will be instantiated.
virtual void	registerProjections (void)
	Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by setup().
virtual bool	satisfiesBounds (const State *state) const
	Check if a state is inside the bounding box.
void	setBounds (double low, double high)
	Set the bounds of this state space. The bounds for each dimension will be the same: [low, high].
void	setBounds (const RealVectorBounds &bounds)
	Set the bounds of this state space. This defines the range of the space in which sampling is performed.
void	setDimensionName (unsigned int index, const std::string &name)
	Set the name of a dimension.
virtual void	setup (void)
	Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.
virtual	~RealVectorStateSpace (void)
Protected Attributes
RealVectorBounds	bounds_
	The bounds of the space (used for sampling).
unsigned int	dimension_
	The dimension of the space.
std::map< std::string, unsigned int >	dimensionIndex_
	Map from names to index values for dimensions.
std::vector< std::string >	dimensionNames_
	Optional names for individual dimensions.
Private Attributes
std::size_t	stateBytes_
	The size of a state, in bytes.

Detailed Description

A state space representing Rⁿ. The distance function is the L2 norm.

Definition at line 67 of file RealVectorStateSpace.h.

Constructor & Destructor Documentation

ompl::base::RealVectorStateSpace::RealVectorStateSpace ( unsigned int dim = 0 ) [inline]

Constructor. The dimension of of the space needs to be specified. A space representing R^dim will be instantiated.

Definition at line 99 of file RealVectorStateSpace.h.

virtual ompl::base::RealVectorStateSpace::~RealVectorStateSpace ( void ) [inline, virtual]

Definition at line 106 of file RealVectorStateSpace.h.

Member Function Documentation

void ompl::base::RealVectorStateSpace::addDimension	(	const std::string &	name,
		double	minBound = `0.0`,
		double	maxBound = `0.0`
	)

Increase the dimensionality of the state space by 1 and specify the name of this dimension. Optionally, bounds can be specified for this added dimension. setup() will need to be called after adding dimensions. This function is a wrapper for the previous definition of addDimension().

void ompl::base::RealVectorStateSpace::addDimension	(	double	minBound = `0.0`,
		double	maxBound = `0.0`
	)

Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this added dimension. setup() will need to be called after adding dimensions.

virtual State* ompl::base::RealVectorStateSpace::allocState ( void ) const [virtual]

Allocate a state that can store a point in the described space.

Implements ompl::base::StateSpace.

virtual StateSamplerPtr ompl::base::RealVectorStateSpace::allocStateSampler ( void ) const [virtual]

Allocate an instance of a uniform state sampler for this space.

Implements ompl::base::StateSpace.

virtual void ompl::base::RealVectorStateSpace::copyState	(	State *	destination,
		const State *	source
	)			const `[virtual]`

Copy a state to another. The memory of source and destination should NOT overlap.

Implements ompl::base::StateSpace.

virtual double ompl::base::RealVectorStateSpace::distance	(	const State *	state1,
		const State *	state2
	)			const `[virtual]`

Computes distance to between two states. This value will always be between 0 and getMaximumExtent().

Implements ompl::base::StateSpace.

virtual void ompl::base::RealVectorStateSpace::enforceBounds ( State * state ) const [virtual]

Bring the state within the bounds of the state space.

Implements ompl::base::StateSpace.

virtual bool ompl::base::RealVectorStateSpace::equalStates	(	const State *	state1,
		const State *	state2
	)			const `[virtual]`

Checks whether two states are equal.

Implements ompl::base::StateSpace.

virtual void ompl::base::RealVectorStateSpace::freeState ( State * state ) const [virtual]

Free the memory of the allocated state.

Implements ompl::base::StateSpace.

const RealVectorBounds& ompl::base::RealVectorStateSpace::getBounds ( void ) const [inline]

Get the bounds for this state space.

Definition at line 125 of file RealVectorStateSpace.h.

virtual unsigned int ompl::base::RealVectorStateSpace::getDimension ( void ) const [virtual]

Get the dimension of the space.

Implements ompl::base::StateSpace.

int ompl::base::RealVectorStateSpace::getDimensionIndex ( const std::string & name ) const

Get the index of a specific dimension, by name. Return -1 if name is not found.

const std::string& ompl::base::RealVectorStateSpace::getDimensionName ( unsigned int index ) const

Each dimension can optionally have a name associated to it. If it does, this function returns that name. Return empty string otherwise.

virtual double ompl::base::RealVectorStateSpace::getMaximumExtent ( void ) const [virtual]

Get the maximum value a call to distance() can return.

Implements ompl::base::StateSpace.

virtual double* ompl::base::RealVectorStateSpace::getValueAddressAtIndex	(	State *	state,
		const unsigned int	index
	)			const `[virtual]`

Many states contain a number of double values. This function provides a means to get the memory address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is NULL.

Note:: This function does not map a state to an array of doubles. There may be components of a state that do not correspond to double values and they are 'invisible' to this function. Furthermore, this function is slow and is not intended for use in the implementation of planners.

Reimplemented from ompl::base::StateSpace.

virtual void ompl::base::RealVectorStateSpace::interpolate	(	const State *	from,
		const State *	to,
		const double	t,
		State *	state
	)			const `[virtual]`

Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.

Implements ompl::base::StateSpace.

virtual void ompl::base::RealVectorStateSpace::printSettings ( std::ostream & out ) const [virtual]

Print the settings for this state space to a stream.

Reimplemented from ompl::base::StateSpace.

virtual void ompl::base::RealVectorStateSpace::printState	(	const State *	state,
		std::ostream &	out
	)			const `[virtual]`

Print a state to a stream.

Reimplemented from ompl::base::StateSpace.

virtual void ompl::base::RealVectorStateSpace::registerProjections ( void ) [virtual]

Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by setup().

Reimplemented from ompl::base::StateSpace.

virtual bool ompl::base::RealVectorStateSpace::satisfiesBounds ( const State * state ) const [virtual]

Check if a state is inside the bounding box.

Implements ompl::base::StateSpace.

void ompl::base::RealVectorStateSpace::setBounds	(	double	low,
		double	high
	)

Set the bounds of this state space. The bounds for each dimension will be the same: [low, high].

void ompl::base::RealVectorStateSpace::setBounds ( const RealVectorBounds & bounds )

Set the bounds of this state space. This defines the range of the space in which sampling is performed.

void ompl::base::RealVectorStateSpace::setDimensionName	(	unsigned int	index,
		const std::string &	name
	)

Set the name of a dimension.

virtual void ompl::base::RealVectorStateSpace::setup ( void ) [virtual]

Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.

Reimplemented from ompl::base::StateSpace.