ompl::base::StateSpace Class Reference

Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined. More...

#include <StateSpace.h>

Inheritance diagram for ompl::base::StateSpace:

[legend]

List of all members.

Public Types
typedef State	StateType
	Define the type of state allocated by this space.
Public Member Functions
template<class T >
const T *	as (void) const
	Cast this instance to a desired type.
template<class T >
T *	as (void)
	Cast this instance to a desired type.
virtual void	printProjections (std::ostream &out) const
	Print the list of registered projections. This function is also called by printSettings().
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	setup (void)
	Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.
	StateSpace (void)
	Constructor. Assigns a unique name to the space.
virtual	~StateSpace (void)
Functionality specific to state spaces (to be implemented by derived state spaces)

virtual State *	allocState (void) const =0
	Allocate a state that can store a point in the described space.
virtual StateSamplerPtr	allocStateSampler (void) const =0
	Allocate an instance of a uniform state sampler for this space.
virtual void	copyState (State destination, const State source) const =0
	Copy a state to another. The memory of source and destination should NOT overlap.
virtual double	distance (const State state1, const State state2) const =0
	Computes distance to between two states. This value will always be between 0 and getMaximumExtent().
virtual void	enforceBounds (State *state) const =0
	Bring the state within the bounds of the state space.
virtual bool	equalStates (const State state1, const State state2) const =0
	Checks whether two states are equal.
virtual void	freeState (State *state) const =0
	Free the memory of the allocated state.
virtual unsigned int	getDimension (void) const =0
	Get the dimension of the space.
virtual double	getLongestValidSegmentFraction (void) const
	When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function returns this length, for this state space, as a fraction of the space's maximum extent.
virtual double	getMaximumExtent (void) const =0
	Get the maximum value a call to distance() can return.
unsigned int	getValidSegmentCountFactor (void) const
	Get the value used to multiply the return value of validSegmentCount().
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 =0
	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 bool	satisfiesBounds (const State *state) const =0
	Check if a state is inside the bounding box.
virtual void	setLongestValidSegmentFraction (double segmentFraction)
	When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the space's maximum extent.
void	setValidSegmentCountFactor (unsigned int factor)
	Set factor to be the value to multiply the return value of validSegmentCount(). By default, this value is 1. The higher the value, the smaller the size of the segments considered valid. The effect of this function is immediate (setup() does not need to be called).
virtual unsigned int	validSegmentCount (const State state1, const State state2) const
	Count how many segments of the "longest valid length" fit on the motion from state1 to state2.
Generic functionality for state spaces

bool	covers (const StateSpacePtr &other) const
	Return true if other is a space that is either included (perhaps equal, perhaps a subspace) in this one, or all of its subspaces are included in this one.
const std::string &	getName (void) const
	Get the name of the state space.
int	getType (void) const
	Get the type of the state space. The type can be used to verify whether two space instances are of the same type (e.g., SO2).
bool	includes (const StateSpacePtr &other) const
	Return true if other is a space included (perhaps equal, perhaps a subspace) in this one.
virtual bool	isCompound (void) const
	Check if the state space is compound.
void	setName (const std::string &name)
	Set the name of the state space.
Management of projections from this state space to Euclidean spaces

ProjectionEvaluatorPtr	getDefaultProjection (void) const
	Get the default projection.
ProjectionEvaluatorPtr	getProjection (const std::string &name) const
	Get the projection registered under a specific name.
const std::map< std::string, ProjectionEvaluatorPtr > &	getRegisteredProjections (void) const
	Get all the registered projections.
bool	hasDefaultProjection (void) const
	Check if a default projection is available.
bool	hasProjection (const std::string &name) const
	Check if a projection with a specified name is available.
void	registerDefaultProjection (const ProjectionEvaluatorPtr &projection)
	Register the default projection for this state space.
void	registerProjection (const std::string &name, const ProjectionEvaluatorPtr &projection)
	Register a projection for this state space under a specified name.
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().
Static Public Member Functions
static void	diagram (std::ostream &out)
	Print a Graphviz digraph that represents the containment diagram for all the instantiated state spaces.
Protected Attributes
double	longestValidSegment_
	The longest valid segment at the time setup() was called.
unsigned int	longestValidSegmentCountFactor_
	The factor to multiply the value returned by validSegmentCount().
double	longestValidSegmentFraction_
	The fraction of the longest valid segment.
double	maxExtent_
	The extent of this space at the time setup() was called.
msg::Interface	msg_
	Interface used for console output.
std::map< std::string, ProjectionEvaluatorPtr >	projections_
	List of available projections.
int	type_
	A type assigned for this state space.
Static Protected Attributes
static const std::string	DEFAULT_PROJECTION_NAME
	The name used for the default projection.
Private Attributes
std::string	name_
	State space name.

Detailed Description

Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.

See implementingStateSpaces.

Definition at line 70 of file StateSpace.h.

Member Typedef Documentation

typedef State ompl::base::StateSpace::StateType

Define the type of state allocated by this space.

Reimplemented in ompl::base::CompoundStateSpace.

Definition at line 75 of file StateSpace.h.

Constructor & Destructor Documentation

ompl::base::StateSpace::StateSpace ( void )

Constructor. Assigns a unique name to the space.

virtual ompl::base::StateSpace::~StateSpace ( void ) [virtual]

Member Function Documentation

virtual State* ompl::base::StateSpace::allocState ( void ) const [pure virtual]

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

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SE2StateSpace, ompl::base::SE3StateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, ompl::base::CompoundStateSpace, and ompl::control::ODEStateSpace.

virtual StateSamplerPtr ompl::base::StateSpace::allocStateSampler ( void ) const [pure virtual]

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

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

template<class T >

const T* ompl::base::StateSpace::as ( void ) const [inline]

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a state space

Definition at line 94 of file StateSpace.h.

template<class T >

T* ompl::base::StateSpace::as ( void ) [inline]

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a state space

Definition at line 84 of file StateSpace.h.

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

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

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, ompl::base::CompoundStateSpace, and ompl::control::ODEStateSpace.

bool ompl::base::StateSpace::covers ( const StateSpacePtr & other ) const

Return true if other is a space that is either included (perhaps equal, perhaps a subspace) in this one, or all of its subspaces are included in this one.

static void ompl::base::StateSpace::diagram ( std::ostream & out ) [static]

Print a Graphviz digraph that represents the containment diagram for all the instantiated state spaces.

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

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

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

virtual void ompl::base::StateSpace::enforceBounds ( State * state ) const [pure virtual]

Bring the state within the bounds of the state space.

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

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

Checks whether two states are equal.

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

virtual void ompl::base::StateSpace::freeState ( State * state ) const [pure virtual]

Free the memory of the allocated state.

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SE2StateSpace, ompl::base::SE3StateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, ompl::base::CompoundStateSpace, and ompl::control::ODEStateSpace.

ProjectionEvaluatorPtr ompl::base::StateSpace::getDefaultProjection ( void ) const

Get the default projection.

virtual unsigned int ompl::base::StateSpace::getDimension ( void ) const [pure virtual]

Get the dimension of the space.

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

virtual double ompl::base::StateSpace::getLongestValidSegmentFraction ( void ) const [virtual]

When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function returns this length, for this state space, as a fraction of the space's maximum extent.

virtual double ompl::base::StateSpace::getMaximumExtent ( void ) const [pure virtual]

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

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

const std::string& ompl::base::StateSpace::getName ( void ) const

Get the name of the state space.

ProjectionEvaluatorPtr ompl::base::StateSpace::getProjection ( const std::string & name ) const

Get the projection registered under a specific name.

const std::map<std::string, ProjectionEvaluatorPtr>& ompl::base::StateSpace::getRegisteredProjections ( void ) const

Get all the registered projections.

int ompl::base::StateSpace::getType ( void ) const [inline]

Get the type of the state space. The type can be used to verify whether two space instances are of the same type (e.g., SO2).

Definition at line 117 of file StateSpace.h.

unsigned int ompl::base::StateSpace::getValidSegmentCountFactor ( void ) const

Get the value used to multiply the return value of validSegmentCount().

virtual double* ompl::base::StateSpace::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 in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

bool ompl::base::StateSpace::hasDefaultProjection ( void ) const

Check if a default projection is available.

bool ompl::base::StateSpace::hasProjection ( const std::string & name ) const

Check if a projection with a specified name is available.

bool ompl::base::StateSpace::includes ( const StateSpacePtr & other ) const

Return true if other is a space included (perhaps equal, perhaps a subspace) in this one.

virtual void ompl::base::StateSpace::interpolate	(	const State *	from,
		const State *	to,
		const double	t,
		State *	state
	)			const `[pure 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.

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

virtual bool ompl::base::StateSpace::isCompound ( void ) const [virtual]

Check if the state space is compound.

Reimplemented in ompl::base::CompoundStateSpace.

virtual void ompl::base::StateSpace::printProjections ( std::ostream & out ) const [virtual]

Print the list of registered projections. This function is also called by printSettings().

virtual void ompl::base::StateSpace::printSettings ( std::ostream & out ) const [virtual]

Print the settings for this state space to a stream.

Reimplemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

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

Print a state to a stream.

Reimplemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

void ompl::base::StateSpace::registerDefaultProjection ( const ProjectionEvaluatorPtr & projection )

Register the default projection for this state space.

void ompl::base::StateSpace::registerProjection	(	const std::string &	name,
		const ProjectionEvaluatorPtr &	projection
	)

Register a projection for this state space under a specified name.

virtual void ompl::base::StateSpace::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 in ompl::base::RealVectorStateSpace, ompl::base::SE2StateSpace, ompl::base::SE3StateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, and ompl::base::TimeStateSpace.

virtual bool ompl::base::StateSpace::satisfiesBounds ( const State * state ) const [pure virtual]

Check if a state is inside the bounding box.

Implemented in ompl::base::RealVectorStateSpace, ompl::base::SO2StateSpace, ompl::base::SO3StateSpace, ompl::base::TimeStateSpace, and ompl::base::CompoundStateSpace.

virtual void ompl::base::StateSpace::setLongestValidSegmentFraction ( double segmentFraction ) [virtual]

When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the space's maximum extent.

Note:: This function's effect is not considered until after setup() has been called. For immediate effects (i.e., during planning) use setValidSegmentCountFactor()

Reimplemented in ompl::base::CompoundStateSpace.

void ompl::base::StateSpace::setName ( const std::string & name )

Set the name of the state space.

virtual void ompl::base::StateSpace::setup ( void ) [virtual]

Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.

Reimplemented in ompl::base::RealVectorStateSpace, and ompl::base::CompoundStateSpace.

void ompl::base::StateSpace::setValidSegmentCountFactor ( unsigned int factor )

Set factor to be the value to multiply the return value of validSegmentCount(). By default, this value is 1. The higher the value, the smaller the size of the segments considered valid. The effect of this function is immediate (setup() does not need to be called).