SO2StateSpace.h
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:212
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: SO2StateSpace.cpp:130
void setIdentity()
Set the state to identity – no rotation (value = 0.0)
Definition: SO2StateSpace.h:71
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
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
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
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition: SO2StateSpace.h:63
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
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