ompl::base::SO2StateSpace Class Reference

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

#include <SO2StateSpace.h>

Inheritance diagram for ompl::base::SO2StateSpace:

[legend]

List of all members.

Classes
class	StateType
	The definition of a state in SO(2). More...
Public Member Functions
virtual State *	allocState (void) const
	Allocate a state that can store a point in the described space.
virtual StateSamplerPtr	allocStateSampler (void) const
	Allocate an instance of a uniform state sampler for this space.
virtual void	copyState (State *destination, const State *source) const
	Copy a state to another. The memory of source and destination should NOT overlap.
virtual double	distance (const State *state1, const State *state2) const
	Computes distance to between two states. This value will always be between 0 and getMaximumExtent().
virtual void	enforceBounds (State *state) const
	Bring the state within the bounds of the state space.
virtual bool	equalStates (const State *state1, const State *state2) const
	Checks whether two states are equal.
virtual void	freeState (State *state) const
	Free the memory of the allocated state.
virtual unsigned int	getDimension (void) const
	Get the dimension of the space.
virtual double	getMaximumExtent (void) const
	Get the maximum value a call to distance() can return.
virtual double *	getValueAddressAtIndex (State *state, const unsigned int index) const
	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 NULL.
virtual void	interpolate (const State *from, const State *to, const double t, State *state) const
	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 void	printSettings (std::ostream &out) const
	Print the settings for this state space to a stream.
virtual void	printState (const State *state, std::ostream &out) const
	Print a state to a stream.
virtual void	registerProjections (void)
	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().
virtual bool	satisfiesBounds (const State *state) const
	Check if a state is inside the bounding box.
	SO2StateSpace (void)
virtual	~SO2StateSpace (void)

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Detailed Description

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

Definition at line 65 of file SO2StateSpace.h.

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Constructor & Destructor Documentation

ompl::base::SO2StateSpace::SO2StateSpace

(

void

)

[inline]

Definition at line 84 of file SO2StateSpace.h.

virtual ompl::base::SO2StateSpace::~SO2StateSpace

(

void

)

[inline, virtual]

Definition at line 90 of file SO2StateSpace.h.

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Member Function Documentation

virtual State* ompl::base::SO2StateSpace::allocState

(

void

)

const [virtual]

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

Implements ompl::base::StateSpace.

virtual StateSamplerPtr ompl::base::SO2StateSpace::allocStateSampler

(

void

)

const [virtual]

Allocate an instance of a uniform state sampler for this space.

Implements ompl::base::StateSpace.

virtual void ompl::base::SO2StateSpace::copyState	(	State *	destination,
		const State *	source
	)			const [virtual]

Copy a state to another. The memory of source and destination should NOT overlap.

Implements ompl::base::StateSpace.

virtual double ompl::base::SO2StateSpace::distance	(	const State *	state1,
		const State *	state2
	)			const [virtual]

Computes distance to between two states. This value will always be between 0 and getMaximumExtent().

Implements ompl::base::StateSpace.

virtual void ompl::base::SO2StateSpace::enforceBounds

(

State *

state

)

const [virtual]

Bring the state within the bounds of the state space.

Implements ompl::base::StateSpace.

virtual bool ompl::base::SO2StateSpace::equalStates	(	const State *	state1,
		const State *	state2
	)			const [virtual]

Checks whether two states are equal.

Implements ompl::base::StateSpace.

virtual void ompl::base::SO2StateSpace::freeState

(

State *

state

)

const [virtual]

Free the memory of the allocated state.

Implements ompl::base::StateSpace.

virtual unsigned int ompl::base::SO2StateSpace::getDimension

(

void

)

const [virtual]

Get the dimension of the space.

Implements ompl::base::StateSpace.

virtual double ompl::base::SO2StateSpace::getMaximumExtent

(

void

)

const [virtual]

Get the maximum value a call to distance() can return.

Implements ompl::base::StateSpace.

virtual double* ompl::base::SO2StateSpace::getValueAddressAtIndex	(	State *	state,
		const unsigned int	index
	)			const [virtual]

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 NULL.

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.

Reimplemented from ompl::base::StateSpace.

virtual void ompl::base::SO2StateSpace::interpolate	(	const State *	from,
		const State *	to,
		const double	t,
		State *	state
	)			const [virtual]

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.

Implements ompl::base::StateSpace.

virtual void ompl::base::SO2StateSpace::printSettings

(

std::ostream &

out

)

const [virtual]

Print the settings for this state space to a stream.

Reimplemented from ompl::base::StateSpace.

virtual void ompl::base::SO2StateSpace::printState	(	const State *	state,
		std::ostream &	out
	)			const [virtual]

Print a state to a stream.

Reimplemented from ompl::base::StateSpace.

virtual void ompl::base::SO2StateSpace::registerProjections

(

void

)

[virtual]

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().

Reimplemented from ompl::base::StateSpace.

virtual bool ompl::base::SO2StateSpace::satisfiesBounds

(

const State *

state

)

const [virtual]

Check if a state is inside the bounding box.

Implements ompl::base::StateSpace.

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The documentation for this class was generated from the following file:

• SO2StateSpace.h