Class CForestStateSpaceWrapper

Inheritance Relationships

Base Type

Class Documentation

class CForestStateSpaceWrapper : public ompl::base::StateSpace

State space wrapper to use together with CForest. It adds some functionalities to the regular state spaces necessary to CForest.

Public Functions

inline CForestStateSpaceWrapper(geometric::CForest *cforest, base::StateSpace *space)
~CForestStateSpaceWrapper() override = default
inline void setPlanner(base::Planner *planner)
inline const base::Planner *getPlanner() const
inline geometric::CForest *getCForestInstance() const
virtual StateSamplerPtr allocDefaultStateSampler() const override

Allocate an instance of the default uniform state sampler for this space.

virtual StateSamplerPtr allocStateSampler() const override

Allocate an instance of the state sampler for this space. This sampler will be allocated with the sampler allocator that was previously specified by setStateSamplerAllocator() or, if no sampler allocator was specified, allocDefaultStateSampler() is called.

virtual void setup() override

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 and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.

inline virtual bool isCompound() const override

Check if the state space is compound.

inline virtual bool isDiscrete() const override

Check if the set of states is discrete.

Note

In fact, because of limited numerical precision, the representation of all spaces is discrete; this function returns true if the corresponding mathematical object is a discrete one.

inline virtual bool isHybrid() const override

Check if this is a hybrid state space (i.e., both discrete and continuous components exist)

inline virtual bool isMetricSpace() const override

Return true if the distance function associated with the space is a metric.

inline virtual bool hasSymmetricDistance() const override

Check if the distance function on this state space is symmetric, i.e. distance(s1,s2) = distance(s2,s1). Default implementation returns true.

inline virtual bool hasSymmetricInterpolate() const override

Check if the interpolation function on this state space is symmetric, i.e. interpolate(from, to,

t, state) = interpolate(to, from, 1-t, state). Default implementation returns true.

inline virtual double getLongestValidSegmentFraction() const override

When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function returns this length, for this state space, as a fraction of the space’s maximum extent.

inline virtual void setLongestValidSegmentFraction(double segmentFraction) override

When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the space’s maximum extent.

Note

This function’s effect is not considered until after setup() has been called. For immediate effects (i.e., during planning) use setValidSegmentCountFactor()

inline virtual unsigned int validSegmentCount(const State *state1, const State *state2) const override

Count how many segments of the “longest valid length” fit on the motion from state1 to state2.

inline virtual unsigned int getDimension() const override

Get the dimension of the space (not the dimension of the surrounding ambient space)

inline virtual double getMaximumExtent() const override

Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity.

Note

Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful.

inline virtual double getMeasure() const override

Get a measure of the space (this can be thought of as a generalization of volume)

inline virtual void enforceBounds(State *state) const override

Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op.

inline virtual bool satisfiesBounds(const State *state) const override

Check if a state is inside the bounding box. For unbounded spaces this function can always return true.

inline virtual void copyState(State *destination, const State *source) const override

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

Note

For more advanced state copying methods (partial copy, for example), see Advanced methods for copying states.

inline virtual double distance(const State *state1, const State *state2) const override

Computes distance between two states. This function satisfies the properties of a metric if isMetricSpace() is true, and its return value will always be between 0 and getMaximumExtent()

inline virtual unsigned int getSerializationLength() const override

Get the number of chars in the serialization of a state in this space.

inline virtual void serialize(void *serialization, const State *state) const override

Write the binary representation of state to serialization.

inline virtual void deserialize(State *state, const void *serialization) const override

Read the binary representation of a state from serialization and write it to state.

inline virtual bool equalStates(const State *state1, const State *state2) const override

Checks whether two states are equal.

inline virtual void interpolate(const State *from, const State *to, const double t, State *state) const override

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.

inline virtual State *allocState() const override

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

inline virtual void freeState(State *state) const override

Free the memory of the allocated state.

inline virtual double *getValueAddressAtIndex(State *state, const unsigned int index) const override

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 nullptr.

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. Ideally, state values should not be accessed by index. If accessing of individual state elements is however needed, getValueAddressAtLocation() provides a faster implementation.

inline virtual void registerProjections() override

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().

inline virtual void printState(const State *state, std::ostream &out) const override

Print a state to a stream.

inline virtual void printSettings(std::ostream &out) const override

Print the settings for this state space to a stream.

inline virtual void printProjections(std::ostream &out) const override

Print the list of registered projections. This function is also called by printSettings()

inline virtual void sanityChecks(double zero, double eps, unsigned int flags) const override

Perform sanity checks for this state space. Throws an exception if failures are found.

Note

This checks if distances are always positive, whether the integration works as expected, etc.

inline virtual void sanityChecks() const override

Convenience function that allows derived state spaces to choose which checks should pass (see SanityChecks flags) and how strict the checks are. This just calls sanityChecks() with some default arguments.

inline virtual StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const override

Allocate a sampler that actually samples only components that are part of subspace.

inline virtual void computeLocations() override

Compute the location information for various components of the state space. Either this function or setup() must be called before any calls to getValueAddressAtName(), getValueAddressAtLocation() (and other functions where those are used).

Protected Attributes

geometric::CForest *cforest_
StateSpace *space_
Planner *planner_