State space wrapper to use together with CForest. It adds some functionalities to the regular state spaces necessary to CForest. More...
#include <ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h>

Public Member Functions | |
CForestStateSpaceWrapper (geometric::CForest *cforest, base::StateSpace *space) | |
void | setPlanner (base::Planner *planner) |
const base::Planner * | getPlanner () const |
geometric::CForest * | getCForestInstance () const |
virtual StateSamplerPtr | allocDefaultStateSampler () const |
Allocate an instance of the default uniform state sampler for this space. | |
virtual StateSamplerPtr | allocStateSampler () const |
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sampler allocator that was previously specified by setStateSamplerAllocator() or, if no sampler allocator was specified, allocDefaultStateSampler() is called. | |
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. | |
virtual bool | isCompound () const |
Check if the state space is compound. | |
virtual bool | isDiscrete () const |
Check if the set of states is discrete. | |
virtual bool | isHybrid () const |
Check if this is a hybrid state space (i.e., both discrete and continuous components exist) | |
virtual bool | isMetricSpace () const |
Return true if the distance function associated with the space is a metric. | |
virtual bool | hasSymmetricDistance () const |
Check if the distance function on this state space is symmetric, i.e. distance(s1,s2) = distance(s2,s1). Default implementation returns true. | |
virtual bool | hasSymmetricInterpolate () const |
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from, to, t, state) = interpolate(to, from, 1-t, state). Default implementation returns true. | |
virtual double | getLongestValidSegmentFraction () const |
When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function returns this length, for this state space, as a fraction of the space's maximum extent. | |
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. | |
virtual unsigned int | validSegmentCount (const State *state1, const State *state2) const |
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 |
virtual bool | satisfiesBounds (const State *state) const |
virtual void | copyState (State *destination, const State *source) const |
virtual double | distance (const State *state1, const State *state2) const |
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 |
virtual void | deserialize (State *state, const void *serialization) const |
virtual bool | equalStates (const State *state1, const State *state2) const |
virtual void | interpolate (const State *from, const State *to, const double t, State *state) const |
virtual State * | allocState () const |
Allocate a state that can store a point in the described space. | |
virtual void | freeState (State *state) const |
virtual double * | getValueAddressAtIndex (State *state, const unsigned int index) const |
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 | printState (const State *state, std::ostream &out) const |
virtual void | printSettings (std::ostream &out) const |
Print the settings for this state space to a stream. | |
virtual void | printProjections (std::ostream &out) const |
Print the list of registered projections. This function is also called by printSettings() | |
virtual void | sanityChecks (double zero, double eps, unsigned int flags) const |
Perform sanity checks for this state space. Throws an exception if failures are found. | |
virtual void | sanityChecks () const |
Convenience function that allows derived state spaces to choose which checks should pass (see SanityChecks flags) and how strict the checks are. This just calls sanityChecks() with some default arguments. | |
virtual StateSamplerPtr | allocSubspaceStateSampler (const StateSpace *subspace) const |
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). | |
Protected Attributes | |
geometric::CForest * | cforest_ |
StateSpace * | space_ |
Planner * | planner_ |
Detailed Description
State space wrapper to use together with CForest. It adds some functionalities to the regular state spaces necessary to CForest.
Definition at line 55 of file CForestStateSpaceWrapper.h.
Member Function Documentation
virtual double ompl::base::CForestStateSpaceWrapper::getMaximumExtent | ( | ) | const [inline, 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 129 of file CForestStateSpaceWrapper.h.
virtual bool ompl::base::CForestStateSpaceWrapper::isDiscrete | ( | ) | const [inline, virtual] |
Check if the set of states is discrete.
- Note:
- In fact, because of limited numerical precision, the representation of all spaces is discrete; this function returns true if the corresponding mathematical object is a discrete one.
Reimplemented from base::StateSpace.
Definition at line 93 of file CForestStateSpaceWrapper.h.
virtual void ompl::base::CForestStateSpaceWrapper::sanityChecks | ( | double | zero, |
double | eps, | ||
unsigned int | flags | ||
) | const [inline, virtual] |
Perform sanity checks for this state space. Throws an exception if failures are found.
- Note:
- This checks if distances are always positive, whether the integration works as expected, etc.
Reimplemented from base::StateSpace.
Definition at line 201 of file CForestStateSpaceWrapper.h.
virtual void ompl::base::CForestStateSpaceWrapper::setLongestValidSegmentFraction | ( | double | segmentFraction | ) | [inline, virtual] |
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.
- Note:
- This function's effect is not considered until after setup() has been called. For immediate effects (i.e., during planning) use setValidSegmentCountFactor()
Reimplemented from base::StateSpace.
Definition at line 117 of file CForestStateSpaceWrapper.h.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h
- ompl/geometric/planners/cforest/src/CForestStateSpaceWrapper.cpp