Class HybridTimeStateSpace

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class HybridTimeStateSpace : public ompl::base::StateSpace

A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op, satisfiesBounds() always returns true, sampling uniform time states always produces time 0 and getMaximumExtent() returns 1. If time is bounded (setBounds() has been previously called), the state space behaves as expected. After construction, the state space is unbounded. isBounded() can be used to check if the state space is bounded or not.

Public Functions

inline HybridTimeStateSpace()
~HybridTimeStateSpace() override = default
virtual unsigned int getDimension() const override

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

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.

virtual double getMeasure() const override

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

void setTimeBounds(double minTime, double maxTime)

Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode. If this function is not called, sampling time will always produce position = 0, enforceBounds() is a no-op, satisfiesBounds() always returns true and getMaximumExtent() returns 1.

void setJumpBounds(unsigned int minJumps, unsigned int maxJumps)

Set the minimum and maximum jump bounds. This will make the state space switch into bounded time mode. If this function is not called, sampling jump will always produce jumps = 0, enforceBounds() is a no-op, satisfiesBounds() always returns true and getMaximumExtent() returns 1.

inline double getMinTimeBound() const

Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded.

inline double getMaxTimeBound() const

Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded.

inline double getMinJumpsBound() const

Get the minimum allowed value of jumps in a state. The function returns 0 if jumps is not bounded.

inline double getMaxJumpBound() const

Get the maximum allowed value of jumps in a state. The function returns 0 if jumps is not bounded.

inline bool isTimeBounded() const

Check if the time is bounded or not.

inline bool areJumpsBounded() const

Check if the time is bounded or not.

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.

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.

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.

virtual unsigned int getSerializationLength() const override

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

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

Write the binary representation of state to serialization.

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

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

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()

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

Checks whether two states are equal.

virtual void interpolate(const State *from, const State *to, 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.

virtual StateSamplerPtr allocDefaultStateSampler() const override

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

virtual State *allocState() const override

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

virtual void freeState(State *state) const override

Free the memory of the allocated state.

virtual double *getValueAddressAtIndex(State *state, 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.

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

Print a state to a stream.

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

Print the settings for this state space to a stream.

Protected Attributes

bool timeBounded_ = {false}

Flag indicating whether the state space is considering bounds or not.

double minTime_ = {0.0}

The minimum point in time considered by the state space (if bounds are used)

double maxTime_ = {0.0}

The maximum point in time considered by the state space (if bounds are used)

bool jumpsBounded_ = {false}

Flag indicating whether the state space is considering bounds or not.

unsigned int minJumps_ = {0}

The minimum point in time considered by the state space (if bounds are used)

unsigned int maxJumps_ = {0}

The maximum point in time considered by the state space (if bounds are used)

class StateType : public ompl::base::State

The definition of a time state.

Public Members

double position

The position in time.

unsigned int jumps

The number of jumps.