ompl/base/spaces/SO2StateSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SPACES_SO2_STATE_SPACE_
00038 #define OMPL_BASE_SPACES_SO2_STATE_SPACE_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 
00042 namespace ompl
00043 {
00044     namespace base
00045     {
00046 
00048         class SO2StateSampler : public StateSampler
00049         {
00050         public:
00051 
00053             SO2StateSampler(const StateSpace *space) : StateSampler(space)
00054             {
00055             }
00056 
00057             virtual void sampleUniform(State *state);
00058             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00059             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00060         };
00061 
00065         class SO2StateSpace : public StateSpace
00066         {
00067         public:
00068 
00070             class StateType : public State
00071             {
00072             public:
00073 
00075                 void setIdentity()
00076                 {
00077                     value = 0.0;
00078                 }
00079 
00081                 double value;
00082             };
00083 
00084             SO2StateSpace() : StateSpace()
00085             {
00086                 setName("SO2" + getName());
00087                 type_ = STATE_SPACE_SO2;
00088             }
00089 
00090             virtual ~SO2StateSpace()
00091             {
00092             }
00093 
00094             virtual unsigned int getDimension() const;
00095 
00096             virtual double getMaximumExtent() const;
00097 
00098             virtual double getMeasure() const;
00099 
00101             virtual void enforceBounds(State *state) const;
00102 
00104             virtual bool satisfiesBounds(const State *state) const;
00105 
00106             virtual void copyState(State *destination, const State *source) const;
00107 
00108             virtual unsigned int getSerializationLength() const;
00109 
00110             virtual void serialize(void *serialization, const State *state) const;
00111 
00112             virtual void deserialize(State *state, const void *serialization) const;
00113 
00114             virtual double distance(const State *state1, const State *state2) const;
00115 
00116             virtual bool equalStates(const State *state1, const State *state2) const;
00117 
00118             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00119 
00120             virtual StateSamplerPtr allocDefaultStateSampler() const;
00121 
00122             virtual State* allocState() const;
00123 
00124             virtual void freeState(State *state) const;
00125 
00126             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
00127 
00128             virtual void printState(const State *state, std::ostream &out) const;
00129 
00130             virtual void printSettings(std::ostream &out) const;
00131 
00132             virtual void registerProjections();
00133         };
00134     }
00135 }
00136 
00137 #endif
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