Class ConstrainedSpaceInformation

Inheritance Relationships

Base Type

Derived Type

Class Documentation

class ConstrainedSpaceInformation : public ompl::base::SpaceInformation

Space information for a constrained state space. Implements more direct for getting motion states.

Subclassed by ompl::base::TangentBundleSpaceInformation

Public Functions

inline ConstrainedSpaceInformation(StateSpacePtr space)

Constructor. Sets the instance of the state space to plan with.

inline virtual unsigned int getMotionStates(const State *s1, const State *s2, std::vector<State*> &states, unsigned int, bool endpoints, bool) const override

Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. Uses the constrained state space’s manifold traversal method to obtain states. Will always allocate states.

Otherwise, fewer states can be returned.

Parameters:

  • s1 – the start state of the considered motion

  • s2 – the end state of the considered motion

  • states – the computed set of states along the specified motion

  • count – is currently ignored

  • endpoints – flag indicating whether s1 and s2 are to be included in states

  • alloc – is currently ignored