TimeStateSpace.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACES_TIME_STATE_SPACE_
#define OMPL_BASE_SPACES_TIME_STATE_SPACE_

#include "ompl/base/StateSpace.h"

namespace ompl
{
    namespace base
    {

        class TimeStateSampler : public StateSampler
        {
        public:

            TimeStateSampler(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 TimeStateSpace : public StateSpace
        {
        public:

            class StateType : public State
            {
            public:

                double position;
            };

            TimeStateSpace(void) : StateSpace(), bounded_(false), minTime_(0.0), maxTime_(0.0)
            {
                setName("Time" + getName());
                type_ = STATE_SPACE_TIME;
            }

            virtual ~TimeStateSpace(void)
            {
            }

            virtual unsigned int getDimension(void) const;

            virtual double getMaximumExtent(void) const;

            void setBounds(double minTime, double maxTime);

            double getMinTimeBound(void) const
            {
                return minTime_;
            }

            double getMaxTimeBound(void) const
            {
                return maxTime_;
            }

            bool isBounded(void) const
            {
                return bounded_;
            }

            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);

        protected:

            bool   bounded_;

            double minTime_;

            double maxTime_;

        };
    }
}

#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