TimeStateSpace.h
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:212
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...
Definition: TimeStateSpace.cpp:59
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: TimeStateSpace.cpp:150
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition: TimeStateSpace.cpp:202
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: TimeStateSpace.cpp:145
A shared pointer wrapper for ompl::base::StateSampler.
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
Definition: TimeStateSpace.cpp:102
double maxTime_
The maximum point in time considered by the state space (if bounds are used)
Definition: TimeStateSpace.h:162
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition: TimeStateSpace.cpp:128
void freeState(State *state) const override
Free the memory of the allocated state.
Definition: TimeStateSpace.cpp:155
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume) ...
Definition: TimeStateSpace.cpp:86
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition: TimeStateSpace.cpp:118
double minTime_
The minimum point in time considered by the state space (if bounds are used)
Definition: TimeStateSpace.h:159
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Definition: TimeStateSpace.cpp:66
The definition of a time state.
Definition: TimeStateSpace.h:73
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition: TimeStateSpace.cpp:123
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: TimeStateSpace.cpp:133
double getMaxTimeBound() const
Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded...
Definition: TimeStateSpace.h:111
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: TimeStateSpace.cpp:81
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: TimeStateSpace.cpp:197
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition: TimeStateSpace.cpp:113
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection...
Definition: TimeStateSpace.cpp:160
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Definition: TimeStateSpace.cpp:51
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
Definition: TimeStateSpace.cpp:139
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
Definition: TimeStateSpace.cpp:91
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition: TimeStateSpace.cpp:212
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
Definition: TimeStateSpace.cpp:71
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...
Definition: TimeStateSpace.h:69
double getMinTimeBound() const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...
Definition: TimeStateSpace.h:104
bool bounded_
Flag indicating whether the state space is considering bounds or not.
Definition: TimeStateSpace.h:156
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap. ...
Definition: TimeStateSpace.cpp:108