base::CompoundStateSpace Class Reference

A space to allow the composition of state spaces. More...

#include <ompl/base/StateSpace.h>

Inheritance diagram for base::CompoundStateSpace:

List of all members.

Public Types

typedef CompoundState StateType
 Define the type of state allocated by this state space.

Public Member Functions

 CompoundStateSpace ()
 Construct an empty compound state space.
 CompoundStateSpace (const std::vector< StateSpacePtr > &components, const std::vector< double > &weights)
 Construct a compound state space from a list of subspaces (components) and their corresponding weights (weights)
template<class T >
T * as (const unsigned int index) const
 Cast a component of this instance to a desired type.
template<class T >
T * as (const std::string &name) const
 Cast a component of this instance to a desired type.
virtual bool isCompound () const
 Check if the state space is compound.
virtual bool isHybrid () const
 Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
virtual void printState (const State *state, std::ostream &out) const
 Print a state to a stream.
virtual void printSettings (std::ostream &out) const
 Print the settings for this state space to a stream.
virtual void computeLocations ()
 Compute the location information for various components of the state space. Either this function or setup() must be called before any calls to getValueAddressAtName(), getValueAddressAtLocation() (and other functions where those are used).
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.
Management of contained subspaces
void addSubspace (const StateSpacePtr &component, double weight)
 Adds a new state space as part of the compound state space. For computing distances within the compound state space, the weight of the component also needs to be specified.
unsigned int getSubspaceCount () const
 Get the number of state spaces that make up the compound state space.
const StateSpacePtr & getSubspace (const unsigned int index) const
 Get a specific subspace from the compound state space.
const StateSpacePtr & getSubspace (const std::string &name) const
 Get a specific subspace from the compound state space.
unsigned int getSubspaceIndex (const std::string &name) const
 Get the index of a specific subspace from the compound state space.
bool hasSubspace (const std::string &name) const
 Check if a specific subspace is contained in this state space.
double getSubspaceWeight (const unsigned int index) const
 Get the weight of a subspace from the compound state space (used in distance computation)
double getSubspaceWeight (const std::string &name) const
 Get the weight of a subspace from the compound state space (used in distance computation)
void setSubspaceWeight (const unsigned int index, double weight)
 Set the weight of a subspace in the compound state space (used in distance computation)
void setSubspaceWeight (const std::string &name, double weight)
 Set the weight of a subspace in the compound state space (used in distance computation)
const std::vector
< StateSpacePtr > & 
getSubspaces () const
 Get the list of components.
const std::vector< double > & getSubspaceWeights () const
 Get the list of component weights.
bool isLocked () const
 Return true if the state space is locked. A value of true means that no further spaces can be added as components.
void lock ()
 Lock this state space. This means no further spaces can be added as components. This function can be for instance called from the constructor of a state space that inherits from CompoundStateSpace to prevent the user to add further components.
Operations with substates
virtual StateSamplerPtr allocSubspaceStateSampler (const StateSpace *subspace) const
 Allocate a sampler that actually samples only components that are part of subspace.
Functionality specific to the state space
virtual unsigned int getDimension () const
 Get the dimension of the space (not the dimension of the surrounding ambient space)
virtual double getMaximumExtent () const
 Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity.
virtual double getMeasure () const
 Get a measure of the space (this can be thought of as a generalization of volume)
virtual void enforceBounds (State *state) const
 Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op.
virtual bool satisfiesBounds (const State *state) const
 Check if a state is inside the bounding box. For unbounded spaces this function can always return true.
virtual void copyState (State *destination, const State *source) const
 Copy a state to another. The memory of source and destination should NOT overlap.
virtual unsigned int getSerializationLength () const
 Get the number of chars in the serialization of a state in this space.
virtual void serialize (void *serialization, const State *state) const
 Write the binary representation of state to serialization.
virtual void deserialize (State *state, const void *serialization) const
 Read the binary representation of a state from serialization and write it to state.
virtual double distance (const State *state1, const State *state2) const
 Computes distance between two states. This function satisfies the properties of a metric if isMetricSpace() is true, and its return value will always be between 0 and getMaximumExtent()
virtual void setLongestValidSegmentFraction (double segmentFraction)
 When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the space's maximum extent. The call is passed to all contained subspaces.
virtual unsigned int validSegmentCount (const State *state1, const State *state2) const
 Count how many segments of the "longest valid length" fit on the motion from state1 to state2. This is the max() of the counts returned by contained subspaces.
virtual bool equalStates (const State *state1, const State *state2) const
 Checks whether two states are equal.
virtual void interpolate (const State *from, const State *to, const double t, State *state) const
 Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.
virtual StateSamplerPtr allocDefaultStateSampler () const
 Allocate an instance of the default uniform state sampler for this space.
virtual StateallocState () const
 Allocate a state that can store a point in the described space.
virtual void freeState (State *state) const
 Free the memory of the allocated state.
virtual double * getValueAddressAtIndex (State *state, const unsigned int index) const
 Many states contain a number of double values. This function provides a means to get the memory address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is NULL.

Protected Member Functions

void allocStateComponents (CompoundState *state) const
 Allocate the state components. Called by allocState(). Usually called by derived state spaces.

Protected Attributes

std::vector< StateSpacePtr > components_
 The state spaces that make up the compound state space.
unsigned int componentCount_
 The number of components.
std::vector< double > weights_
 The weight assigned to each component of the state space when computing the compound distance.
double weightSum_
 The sum of all the weights in weights_.
bool locked_
 Flag indicating whether adding further components is allowed or not.

Detailed Description

A space to allow the composition of state spaces.

Definition at line 544 of file StateSpace.h.


Member Function Documentation

template<class T >
T* base::CompoundStateSpace::as ( const unsigned int  index) const [inline]

Cast a component of this instance to a desired type.

Make sure the type we are casting to is indeed a state space

Definition at line 563 of file StateSpace.h.

template<class T >
T* base::CompoundStateSpace::as ( const std::string &  name) const [inline]

Cast a component of this instance to a desired type.

Make sure the type we are casting to is indeed a state space

Definition at line 573 of file StateSpace.h.

void base::CompoundStateSpace::copyState ( State destination,
const State source 
) const [virtual]

Copy a state to another. The memory of source and destination should NOT overlap.

Note:
For more advanced state copying methods (partial copy, for example), see Advanced methods for copying states.

Implements base::StateSpace.

Reimplemented in ompl::control::OpenDEStateSpace.

Definition at line 1014 of file StateSpace.cpp.

double base::CompoundStateSpace::getMaximumExtent ( ) const [virtual]

Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity.

Note:
Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful.

Implements base::StateSpace.

Definition at line 980 of file StateSpace.cpp.

double * base::CompoundStateSpace::getValueAddressAtIndex ( State state,
const unsigned int  index 
) const [virtual]

Many states contain a number of double values. This function provides a means to get the memory address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is NULL.

Note:
This function does not map a state to an array of doubles. There may be components of a state that do not correspond to double values and they are 'invisible' to this function. Furthermore, this function is slow and is not intended for use in the implementation of planners. Ideally, state values should not be accessed by index. If accessing of individual state elements is however needed, getValueAddressAtLocation() provides a faster implementation.

Reimplemented from base::StateSpace.

Definition at line 1156 of file StateSpace.cpp.


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