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ompl::base::RealVectorStateSpace Class Reference

A state space representing Rn. The distance function is the L2 norm. More...

#include <RealVectorStateSpace.h>

Inheritance diagram for ompl::base::RealVectorStateSpace:

List of all members.

Classes

class  StateType
 The definition of a state in Rn More...

Public Member Functions

 RealVectorStateSpace (unsigned int dim=0)
 Constructor. The dimension of of the space needs to be specified. A space representing Rdim will be instantiated.
void addDimension (double minBound=0.0, double maxBound=0.0)
 Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this added dimension. setup() will need to be called after adding dimensions.
void addDimension (const std::string &name, double minBound=0.0, double maxBound=0.0)
 Increase the dimensionality of the state space by 1 and specify the name of this dimension. Optionally, bounds can be specified for this added dimension. setup() will need to be called after adding dimensions. This function is a wrapper for the previous definition of addDimension().
void setBounds (const RealVectorBounds &bounds)
 Set the bounds of this state space. This defines the range of the space in which sampling is performed.
void setBounds (double low, double high)
 Set the bounds of this state space. The bounds for each dimension will be the same: [low, high].
const RealVectorBoundsgetBounds (void) const
 Get the bounds for this state space.
virtual unsigned int getDimension (void) const
 Get the dimension of the space (not the dimension of the surrounding ambient space)
const std::string & getDimensionName (unsigned int index) const
 Each dimension can optionally have a name associated to it. If it does, this function returns that name. Return empty string otherwise.
int getDimensionIndex (const std::string &name) const
 Get the index of a specific dimension, by name. Return -1 if name is not found.
void setDimensionName (unsigned int index, const std::string &name)
 Set the name of a dimension.
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 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().
virtual void setup (void)
 Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.

Protected Attributes

unsigned int dimension_
 The dimension of the space.
RealVectorBounds bounds_
 The bounds of the space (used for sampling)
std::vector< std::string > dimensionNames_
 Optional names for individual dimensions.
std::map< std::string,
unsigned int > 
dimensionIndex_
 Map from names to index values for dimensions.

Detailed Description

A state space representing Rn. The distance function is the L2 norm.

Definition at line 67 of file RealVectorStateSpace.h.


Member Function Documentation

double ompl::base::RealVectorStateSpace::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 171 of file RealVectorStateSpace.cpp.

double * ompl::base::RealVectorStateSpace::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 266 of file RealVectorStateSpace.cpp.


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