base::SO2StateSpace Class Reference

A state space representing SO(2). The distance function and interpolation take into account angle wrapping. More...

#include <ompl/base/spaces/SO2StateSpace.h>

Inheritance diagram for base::SO2StateSpace:

List of all members.

Public Member Functions

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
 Normalize the value of the state to the interval (-Pi, Pi].
virtual bool satisfiesBounds (const State *state) const
 Check if the value of the state is in the interval (-Pi, Pi].
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 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.
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().

Detailed Description

A state space representing SO(2). The distance function and interpolation take into account angle wrapping.

Definition at line 65 of file SO2StateSpace.h.


Member Function Documentation

void base::SO2StateSpace::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 100 of file SO2StateSpace.cpp.

double base::SO2StateSpace::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 73 of file SO2StateSpace.cpp.

double * base::SO2StateSpace::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 206 of file SO2StateSpace.cpp.


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