A state space representing SO(2). The distance function and interpolation take into account angle wrapping. More...
#include <SO2StateSpace.h>
Classes | |
class | StateType |
The definition of a state in SO(2) 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. | |
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(). |
A state space representing SO(2). The distance function and interpolation take into account angle wrapping.
Definition at line 65 of file SO2StateSpace.h.
double ompl::base::SO2StateSpace::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 68 of file SO2StateSpace.cpp.
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.
Reimplemented from ompl::base::StateSpace.
Definition at line 174 of file SO2StateSpace.cpp.