RealVectorStateSpace.cpp
55 void ompl::base::RealVectorStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
67 void ompl::base::RealVectorStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
106 void ompl::base::RealVectorStateSpace::addDimension(const std::string &name, double minBound, double maxBound)
156 void ompl::base::RealVectorStateSpace::setDimensionName(unsigned int index, const std::string &name)
212 memcpy(static_cast<StateType *>(destination)->values, static_cast<const StateType *>(source)->values, stateBytes_);
225 void ompl::base::RealVectorStateSpace::deserialize(State *state, const void *serialization) const
230 double ompl::base::RealVectorStateSpace::distance(const State *state1, const State *state2) const
244 bool ompl::base::RealVectorStateSpace::equalStates(const State *state1, const State *state2) const
257 void ompl::base::RealVectorStateSpace::interpolate(const State *from, const State *to, const double t,
286 double *ompl::base::RealVectorStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
311 out << "Real vector state space '" << getName() << "' of dimension " << dimension_ << " with bounds: " << std::endl;
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: RealVectorStateSpace.cpp:200
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: RealVectorStateSpace.cpp:188
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
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: RealVectorStateSpace.cpp:85
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition: RealVectorStateSpace.cpp:291
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: RealVectorStateSpace.cpp:286
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap. ...
Definition: RealVectorStateSpace.cpp:210
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: RealVectorStateSpace.cpp:272
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and st...
Definition: RealVectorStateSpace.cpp:67
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 na...
Definition: RealVectorStateSpace.cpp:143
void setLow(double value)
Set the lower bound in each dimension to a specific value.
Definition: RealVectorBounds.cpp:42
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: RealVectorStateSpace.cpp:244
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition: RealVectorStateSpace.cpp:220
void setHigh(double value)
Set the upper bound in each dimension to a specific value.
Definition: RealVectorBounds.cpp:47
void freeState(State *state) const override
Free the memory of the allocated state.
Definition: RealVectorStateSpace.cpp:279
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: RealVectorStateSpace.cpp:257
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: RealVectorStateSpace.cpp:267
void check() const
Check if the bounds are valid (same length for low and high, high[i] > low[i]). Throw an exception if...
Definition: RealVectorBounds.cpp:89
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:74
A state space representing Rn. The distance function is the L2 norm.
Definition: RealVectorStateSpace.h:73
virtual void setup()
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 and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
Definition: StateSpace.cpp:248
void setDimensionName(unsigned int index, const std::string &name)
Set the name of a dimension.
Definition: RealVectorStateSpace.cpp:156
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: RealVectorStateSpace.cpp:167
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition: RealVectorStateSpace.cpp:215
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: RealVectorStateSpace.cpp:230
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
The definition of a state in Rn
Definition: RealVectorStateSpace.h:77
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition: RealVectorStateSpace.cpp:225
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 add...
Definition: RealVectorStateSpace.cpp:112
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume) ...
Definition: RealVectorStateSpace.cpp:178
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition: RealVectorStateSpace.cpp:309
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Definition: RealVectorStateSpace.cpp:138
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance, near[i]+distance]. If this interval exceeds the state space bounds, the interval is truncated.
Definition: RealVectorStateSpace.cpp:55
void setup() override
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 and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
Definition: RealVectorStateSpace.cpp:100
int getDimensionIndex(const std::string &name) const
Get the index of a specific dimension, by name. Return -1 if name is not found.
Definition: RealVectorStateSpace.cpp:150
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
Definition: RealVectorStateSpace.cpp:121