Class SO2StateSpace

Nested Relationships

class SO2StateSpace : public ompl::base::StateSpace 

A state space representing SO(2). The distance function and interpolation take into account angle wrapping.

Public Functions

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)

virtual void enforceBounds(State *state) const override: Normalize the value of the state to the interval [-Pi, Pi)

virtual bool satisfiesBounds(const State *state) const override: Check if the value of the state is in the interval [-Pi, Pi)

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.

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::State 

The definition of a state in SO(2)

Public Functions

inline void setIdentity(): Set the state to identity — no rotation (value = 0.0)

Public Members