Class TorusStateSpace

• Defined in File TorusStateSpace.h

Nested Relationships

Nested Types

• Class TorusStateSpace::StateType

Inheritance Relationships

Base Type

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

Class Documentation

class TorusStateSpace : public ompl::base::CompoundStateSpace

Public Functions

TorusStateSpace(double majorRadius = 1, double minorRadius = 0.5)

virtual ~TorusStateSpace() override = default

virtual StateSamplerPtr allocDefaultStateSampler() const override

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

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.

double getMajorRadius() const

double getMinorRadius() const

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

class StateType : public ompl::base::CompoundState

Public Functions

StateType() = default

inline double getS1() const

inline double getS2() const

inline void setS1(double s)

inline void setS2(double s)

inline void setS1S2(double s, double t)