Class SE2StateSpace

Defined in File SE2StateSpace.h

Nested Relationships

Nested Types

Class SE2StateSpace::StateType

Inheritance Relationships

Base Type

public ompl::base::CompoundStateSpace (Class CompoundStateSpace)

Derived Types

public ompl::base::DubinsStateSpace (Class DubinsStateSpace)
public ompl::base::ReedsSheppStateSpace (Class ReedsSheppStateSpace)
public ompl::base::TrochoidStateSpace (Class TrochoidStateSpace)

Class Documentation

class SE2StateSpace : public ompl::base::CompoundStateSpace 

A state space representing SE(2)

Subclassed by ompl::base::DubinsStateSpace, ompl::base::ReedsSheppStateSpace, ompl::base::TrochoidStateSpace

Public Functions

inline SE2StateSpace()

~SE2StateSpace() override = default

inline void setBounds(const RealVectorBounds &bounds): Set the bounds of this state space. This defines the range of the space in which sampling is performed.

inline const RealVectorBounds &getBounds() const: Get the bounds for this state 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 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().

class StateType : public ompl::base::CompoundState 

A state in SE(2): (x, y, yaw)

Public Functions

StateType() = default

inline double getX() const: Get the X component of the state.

inline double getY() const: Get the Y component of the state.

inline double getYaw() const: Get the yaw component of the state. This is the rotation in plane, with respect to the Z axis.

inline void setX(double x): Set the X component of the state.

inline void setY(double y): Set the Y component of the state.

inline void setXY(double x, double y): Set the X and Y components of the state.

inline void setYaw(double yaw): Set the yaw component of the state. This is the rotation in plane, with respect to the Z axis.