RealVectorStateSpace.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
#define OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_

#include "ompl/base/StateSpace.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include <vector>
#include <string>
#include <map>

namespace ompl
{
    namespace base
    {

        class RealVectorStateSampler : public StateSampler
        {
        public:

            RealVectorStateSampler(const StateSpace *space) : StateSampler(space)
            {
            }

            virtual void sampleUniform(State *state);
            virtual void sampleUniformNear(State *state, const State *near, const double distance);
            virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
        };

        class RealVectorStateSpace : public StateSpace
        {
        public:

            class StateType : public State
            {
            public:
                StateType(void) : State()
                {
                }

                double operator[](unsigned int i) const
                {
                    return values[i];
                }

                double& operator[](unsigned int i)
                {
                    return values[i];
                }

                double *values;
            };

            RealVectorStateSpace(unsigned int dim = 0) : StateSpace(), dimension_(dim), bounds_(dim),  stateBytes_(dim * sizeof(double))
            {
                type_ = STATE_SPACE_REAL_VECTOR;
                setName("RealVector" + getName());
                dimensionNames_.resize(dim, "");
            }

            virtual ~RealVectorStateSpace(void)
            {
            }

            void addDimension(double minBound = 0.0, double maxBound = 0.0);

            void addDimension(const std::string &name, double minBound = 0.0, double maxBound = 0.0);

            void setBounds(const RealVectorBounds &bounds);

            void setBounds(double low, double high);

            const RealVectorBounds& getBounds(void) const
            {
                return bounds_;
            }

            virtual unsigned int getDimension(void) const;

            const std::string& getDimensionName(unsigned int index) const;

            int getDimensionIndex(const std::string &name) const;

            void setDimensionName(unsigned int index, const std::string &name);

            virtual double getMaximumExtent(void) const;

            virtual void enforceBounds(State *state) const;

            virtual bool satisfiesBounds(const State *state) const;

            virtual void copyState(State *destination, const State *source) const;

            virtual double distance(const State *state1, const State *state2) const;

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

            virtual void interpolate(const State *from, const State *to, const double t, State *state) const;

            virtual StateSamplerPtr allocStateSampler(void) const;

            virtual State* allocState(void) const;

            virtual void freeState(State *state) const;

            virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;

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

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

            virtual void registerProjections(void);

            virtual void setup(void);

        protected:

            unsigned int                        dimension_;

            RealVectorBounds                    bounds_;

            std::vector<std::string>            dimensionNames_;

            std::map<std::string, unsigned int> dimensionIndex_;

        private:

            std::size_t                         stateBytes_;

        };
    }
}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:20 2013