SO2StateSpace.cpp
55 void ompl::base::SO2StateSampler::sampleUniformNear(State *state, const State *near, const double distance)
58 near->as<SO2StateSpace::StateType>()->value - distance, near->as<SO2StateSpace::StateType>()->value + distance);
62 void ompl::base::SO2StateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
64 state->as<SO2StateSpace::StateType>()->value = rng_.gaussian(mean->as<SO2StateSpace::StateType>()->value, stdDev);
127 return (d > boost::math::constants::pi<double>()) ? 2.0 * boost::math::constants::pi<double>() - d : d;
136 void ompl::base::SO2StateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
204 double *ompl::base::SO2StateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: SO2StateSpace.cpp:130
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition: SO2StateSpace.cpp:219
A shared pointer wrapper for ompl::base::StateSampler.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection...
Definition: SO2StateSpace.cpp:172
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: SO2StateSpace.cpp:73
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap. ...
Definition: SO2StateSpace.cpp:99
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: SO2StateSpace.cpp:204
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition: SO2StateSpace.cpp:109
The definition of a state in SO(2)
Definition: SO2StateSpace.h:67
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: SO2StateSpace.cpp:119
bool satisfiesBounds(const State *state) const override
Check if the value of the state is in the interval [-Pi, Pi)
Definition: SO2StateSpace.cpp:93
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Definition: SO2StateSpace.cpp:68
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
Definition: MagicConstants.h:55
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:74
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:59
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume) ...
Definition: SO2StateSpace.cpp:78
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition: SO2StateSpace.cpp:114
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Definition: SO2StateSpace.cpp:55
void enforceBounds(State *state) const override
Normalize the value of the state to the interval [-Pi, Pi)
Definition: SO2StateSpace.cpp:83
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: SO2StateSpace.cpp:162
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: SO2StateSpace.cpp:136
void freeState(State *state) const override
Free the memory of the allocated state.
Definition: SO2StateSpace.cpp:167
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: SO2StateSpace.cpp:157
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition: SO2StateSpace.cpp:209
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition: SO2StateSpace.cpp:104
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:133
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: SO2StateSpace.cpp:62