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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:

List of all members.

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 StateallocState (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)

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.


Member Function Documentation

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.

Note:
Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful.

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.

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.

Definition at line 173 of file TimeStateSpace.cpp.


The documentation for this class was generated from the following files: