A state space representing Rn. The distance function is the L2 norm. More...
#include <ompl/base/spaces/RealVectorStateSpace.h>

Public Member Functions | |
RealVectorStateSpace (unsigned int dim=0) | |
Constructor. The dimension of of the space needs to be specified. A space representing Rdim will be instantiated. | |
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 added dimension. setup() will need to be called after adding dimensions. | |
void | addDimension (const std::string &name, double minBound=0.0, double maxBound=0.0) |
Increase the dimensionality of the state space by 1 and specify the name of this dimension. Optionally, bounds can be specified for this added dimension. setup() will need to be called after adding dimensions. This function is a wrapper for the previous definition of addDimension(). | |
void | setBounds (const RealVectorBounds &bounds) |
Set the bounds of this state space. This defines the range of the space in which sampling is performed. | |
void | setBounds (double low, double high) |
Set the bounds of this state space. The bounds for each dimension will be the same: [low, high]. | |
const RealVectorBounds & | getBounds () const |
Get the bounds for this state space. | |
virtual unsigned int | getDimension () const |
Get the dimension of the space (not the dimension of the surrounding ambient space) | |
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 name. Return empty string otherwise. | |
int | getDimensionIndex (const std::string &name) const |
Get the index of a specific dimension, by name. Return -1 if name is not found. | |
void | setDimensionName (unsigned int index, const std::string &name) |
Set the name of a dimension. | |
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 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 State * | allocState () 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. | |
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 | registerProjections () |
Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by setup(). | |
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. | |
Protected Attributes | |
unsigned int | dimension_ |
The dimension of the space. | |
RealVectorBounds | bounds_ |
The bounds of the space (used for sampling) | |
std::vector< std::string > | dimensionNames_ |
Optional names for individual dimensions. | |
std::map< std::string, unsigned int > | dimensionIndex_ |
Map from names to index values for dimensions. |
Detailed Description
A state space representing Rn. The distance function is the L2 norm.
Definition at line 75 of file RealVectorStateSpace.h.
Member Function Documentation
void base::RealVectorStateSpace::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.
Definition at line 215 of file RealVectorStateSpace.cpp.
double base::RealVectorStateSpace::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 171 of file RealVectorStateSpace.cpp.
double * base::RealVectorStateSpace::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 291 of file RealVectorStateSpace.cpp.
The documentation for this class was generated from the following files:
- ompl/base/spaces/RealVectorStateSpace.h
- ompl/base/spaces/src/RealVectorStateSpace.cpp