Class SphereStateSpace

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class SphereStateSpace : public ompl::base::CompoundStateSpace

Public Functions

SphereStateSpace(double radius = 1.0)
virtual ~SphereStateSpace() override = default
virtual StateSamplerPtr allocDefaultStateSampler() const override

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

virtual double getMeasure() const override

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

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 State *allocState() const override

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

Eigen::Vector3f toVector(const State *state) const

Protected Attributes

double radius_ = {1.0}
class StateType : public ompl::base::CompoundState

Public Functions

StateType() = default
inline double getTheta() const
inline double getPhi() const
inline void setTheta(double theta)
inline void setPhi(double phi)
inline void setThetaPhi(double theta, double phi)