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>
Classes | |
class | StateType |
The definition of a time state. More... | |
Public Member Functions | |
virtual unsigned int | getDimension (void) const |
Get the dimension of the space (not the dimension of the surrounding ambient space) | |
virtual double | getMaximumExtent (void) const |
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity. | |
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. | |
double | getMinTimeBound (void) const |
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded. | |
double | getMaxTimeBound (void) const |
Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded. | |
bool | isBounded (void) const |
Check if the time is bounded or not. | |
virtual void | enforceBounds (State *state) const |
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op. | |
virtual bool | satisfiesBounds (const State *state) const |
Check if a state is inside the bounding box. For unbounded spaces this function can always return true. | |
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 function satisfies the properties of a metric and its return value will always be between 0 and getMaximumExtent() | |
virtual bool | equalStates (const State *state1, const State *state2) const |
Checks whether two states are equal. | |
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 StateSamplerPtr | allocStateSampler (void) const |
Allocate an instance of a uniform state sampler for this space. | |
virtual State * | allocState (void) const |
Allocate a state that can store a point in the described space. | |
virtual void | freeState (State *state) const |
Free the memory of the allocated state. | |
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 | printState (const State *state, std::ostream &out) const |
Print a state to a stream. | |
virtual void | printSettings (std::ostream &out) const |
Print the settings for this state space 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(). | |
Protected Attributes | |
bool | bounded_ |
Flag indicating whether the state space is considering bounds or not. | |
double | minTime_ |
The minimum point in time considered by the state space (if bounds are used) | |
double | maxTime_ |
The maximum point in time considered by the state space (if bounds are used) |
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.
double ompl::base::TimeStateSpace::getMaximumExtent | ( | void | ) | const [virtual] |
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity.
Implements ompl::base::StateSpace.
Definition at line 81 of file TimeStateSpace.cpp.
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.
Reimplemented from ompl::base::StateSpace.
Definition at line 173 of file TimeStateSpace.cpp.