Class EmptyStateSpace

Inheritance Relationships

Base Type

Class Documentation

class EmptyStateSpace : public ompl::base::RealVectorStateSpace

A state space representing an empty state space. This is useful for multilevel representations, where some projections might project onto an empty state space.

Public Functions

inline EmptyStateSpace()
~EmptyStateSpace() override = default
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 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 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.