ompl::base::CForestStateSpaceWrapper Class Reference

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>

Inheritance diagram for ompl::base::CForestStateSpaceWrapper:

List of all members.

Public Member Functions

 CForestStateSpaceWrapper (geometric::CForest *cforest, base::StateSpace *space)
void setPlanner (base::Planner *planner)
const base::PlannergetPlanner () const
geometric::CForestgetCForestInstance () 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::CForestcforest_
StateSpacespace_
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.


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