ompl::StateSpaceCollection Class Reference

Manage a set of state spaces such that they share common subspaces. More...

#include <StateSpaceCollection.h>

Public Member Functions
std::vector< base::StateSpacePtr >	allCombinations (const std::vector< base::StateSpacePtr > &components, const std::vector< double > &weights)
	Given the state spaces components, generate all combinations of compound state spaces. Weights of subspaces are always specified by weights. All generated spaces are collected.
std::vector< base::StateSpacePtr >	allCombinations (const std::vector< base::StateSpacePtr > &components)
	Given the state spaces components, generate all combinations of compound state spaces. Weights of subspaces are always set to 1. All generated spaces are collected.
void	collect (const std::vector< base::StateSpacePtr > &spaces)
	Make this collection aware of a set of state spaces.
void	collect (const base::StateSpacePtr &space)
	Make this collection aware of the state space space, and all its subspaces.
const base::StateSpacePtr &	combine (const std::vector< base::StateSpacePtr > &components, const std::vector< double > &weights)
	Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). The weights of the components are in weights. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.
const base::StateSpacePtr &	combine (const std::vector< base::StateSpacePtr > &components, const std::vector< bool > &mask, const std::vector< double > &weights)
	Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). Only components whose bit is set in mask are considered. This is a convenience function implemented on top of the other versions of collect(). The weights of the components are specified in weights. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.
const base::StateSpacePtr &	combine (const std::vector< base::StateSpacePtr > &components, const std::vector< bool > &mask)
	Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). Only components whose bit is set in mask are considered. This is a convenience function implemented on top of the other versions of collect(). The weight of each considered component is 1. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.
const base::StateSpacePtr &	combine (const std::vector< base::StateSpacePtr > &components)
	Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). The weight of each component is 1. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.
const std::string &	getName (void) const
	Get the name of the collection.
const base::StateSpacePtr &	getSpace (const std::string &name) const
	Get the state space whose name is name (if the collection is aware of this space; collect() must have been previously called on this space).
bool	haveSpace (const base::StateSpacePtr &space) const
	Check if a particular space is in the collection.
bool	haveSpace (const std::string &name) const
	Check if a particular space is in the collection.
void	setAutomaticNames (const std::string &join, const std::string &prefix, const std::string &suffix)
	By default, generated spaces are named by joining the names of the component spaces by join, adding prefix as prefix and suffix as suffix. A further prefix is set of the collection is named.
void	setName (const std::string &name)
	Set the name of the collection.
	StateSpaceCollection (void)
	~StateSpaceCollection (void)
Private Attributes
std::string	join_
msg::Interface	msg_
std::string	name_
std::string	prefix_
std::vector< base::StateSpacePtr >	spaces_
std::string	suffix_

Detailed Description

Manage a set of state spaces such that they share common subspaces.

This is useful when dealing with multiple compound state spaces that they are constructed from the same smaller subspaces. Sharing subspaces is important when using the functionality offered by the state space operators.

Definition at line 53 of file StateSpaceCollection.h.

Constructor & Destructor Documentation

ompl::StateSpaceCollection::StateSpaceCollection ( void ) [inline]

Definition at line 57 of file StateSpaceCollection.h.

ompl::StateSpaceCollection::~StateSpaceCollection ( void ) [inline]

Definition at line 62 of file StateSpaceCollection.h.

Member Function Documentation

std::vector<base::StateSpacePtr> ompl::StateSpaceCollection::allCombinations	(	const std::vector< base::StateSpacePtr > &	components,
		const std::vector< double > &	weights
	)

Given the state spaces components, generate all combinations of compound state spaces. Weights of subspaces are always specified by weights. All generated spaces are collected.

std::vector<base::StateSpacePtr> ompl::StateSpaceCollection::allCombinations ( const std::vector< base::StateSpacePtr > & components )

Given the state spaces components, generate all combinations of compound state spaces. Weights of subspaces are always set to 1. All generated spaces are collected.

void ompl::StateSpaceCollection::collect ( const std::vector< base::StateSpacePtr > & spaces )

Make this collection aware of a set of state spaces.

void ompl::StateSpaceCollection::collect ( const base::StateSpacePtr & space )

Make this collection aware of the state space space, and all its subspaces.

const base::StateSpacePtr& ompl::StateSpaceCollection::combine	(	const std::vector< base::StateSpacePtr > &	components,
		const std::vector< double > &	weights
	)

Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). The weights of the components are in weights. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.

const base::StateSpacePtr& ompl::StateSpaceCollection::combine	(	const std::vector< base::StateSpacePtr > &	components,
		const std::vector< bool > &	mask,
		const std::vector< double > &	weights
	)

Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). Only components whose bit is set in mask are considered. This is a convenience function implemented on top of the other versions of collect(). The weights of the components are specified in weights. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.

const base::StateSpacePtr& ompl::StateSpaceCollection::combine	(	const std::vector< base::StateSpacePtr > &	components,
		const std::vector< bool > &	mask
	)

Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). Only components whose bit is set in mask are considered. This is a convenience function implemented on top of the other versions of collect(). The weight of each considered component is 1. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.

const base::StateSpacePtr& ompl::StateSpaceCollection::combine ( const std::vector< base::StateSpacePtr > & components )

Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). The weight of each component is 1. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.

const std::string& ompl::StateSpaceCollection::getName ( void ) const

Get the name of the collection.

const base::StateSpacePtr& ompl::StateSpaceCollection::getSpace ( const std::string & name ) const

Get the state space whose name is name (if the collection is aware of this space; collect() must have been previously called on this space).

bool ompl::StateSpaceCollection::haveSpace ( const base::StateSpacePtr & space ) const

Check if a particular space is in the collection.

bool ompl::StateSpaceCollection::haveSpace ( const std::string & name ) const

Check if a particular space is in the collection.

void ompl::StateSpaceCollection::setAutomaticNames	(	const std::string &	join,
		const std::string &	prefix,
		const std::string &	suffix
	)

By default, generated spaces are named by joining the names of the component spaces by join, adding prefix as prefix and suffix as suffix. A further prefix is set of the collection is named.

Note:: Example generated name: [collection name]:[prefix][name of component 1][join][name of component 2][join][name of component 3][suffix]

void ompl::StateSpaceCollection::setName ( const std::string & name )

Set the name of the collection.