ompl::base::TimeStateSpace Class Reference

A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op, satisfiesBounds() always returns true, sampling uniform time states always produces time 0 and getMaximumExtent() returns 1. If time is bounded (setBounds() has been previously called), the state space behaves as expected. After construction, the state space is unbounded. isBounded() can be used to check if the state space is bounded or not. More...

#include <TimeStateSpace.h>

Inheritance diagram for ompl::base::TimeStateSpace:

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List of all members.

Classes
class	StateType
	The definition of a time state. 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.
double	getMaxTimeBound (void) const
	Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded.
double	getMinTimeBound (void) const
	Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded.
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.
bool	isBounded (void) const
	Check if the time is bounded or not.
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.
void	setBounds (double minTime, double maxTime)
	Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode. If this function is not called, sampling time will always produce position = 0, enforceBounds() is a no-op, satisfiesBounds() always returns true and getMaximumExtent() returns 1.
	TimeStateSpace (void)
virtual	~TimeStateSpace (void)
Protected Attributes
bool	bounded_
	Flag indicating whether the state space is considering bounds or not.
double	maxTime_
	The maximum point in time considered by the state space (if bounds are used).
double	minTime_
	The minimum point in time considered by the state space (if bounds are used).

Detailed Description

A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op, satisfiesBounds() always returns true, sampling uniform time states always produces time 0 and getMaximumExtent() returns 1. If time is bounded (setBounds() has been previously called), the state space behaves as expected. After construction, the state space is unbounded. isBounded() can be used to check if the state space is bounded or not.

Definition at line 71 of file TimeStateSpace.h.

Constructor & Destructor Documentation

ompl::base::TimeStateSpace::TimeStateSpace ( void ) [inline]

Definition at line 84 of file TimeStateSpace.h.

virtual ompl::base::TimeStateSpace::~TimeStateSpace ( void ) [inline, virtual]

Definition at line 90 of file TimeStateSpace.h.

Member Function Documentation

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

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

Implements ompl::base::StateSpace.

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

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

Implements ompl::base::StateSpace.

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

Bring the state within the bounds of the state space.

Implements ompl::base::StateSpace.

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

Checks whether two states are equal.

Implements ompl::base::StateSpace.

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

Free the memory of the allocated state.

Implements ompl::base::StateSpace.

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

Get the dimension of the space.

Implements ompl::base::StateSpace.

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

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

Implements ompl::base::StateSpace.

double ompl::base::TimeStateSpace::getMaxTimeBound ( void ) const [inline]

Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded.

Definition at line 113 of file TimeStateSpace.h.

double ompl::base::TimeStateSpace::getMinTimeBound ( void ) const [inline]

Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded.

Definition at line 107 of file TimeStateSpace.h.

virtual double* ompl::base::TimeStateSpace::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::TimeStateSpace::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.

bool ompl::base::TimeStateSpace::isBounded ( void ) const [inline]

Check if the time is bounded or not.

Definition at line 119 of file TimeStateSpace.h.

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

Print a state to a stream.

Reimplemented from ompl::base::StateSpace.

virtual void ompl::base::TimeStateSpace::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::TimeStateSpace::satisfiesBounds ( const State * state ) const [virtual]

Check if a state is inside the bounding box.

Implements ompl::base::StateSpace.

void ompl::base::TimeStateSpace::setBounds	(	double	minTime,
		double	maxTime
	)

Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode. If this function is not called, sampling time will always produce position = 0, enforceBounds() is a no-op, satisfiesBounds() always returns true and getMaximumExtent() returns 1.