37 #include "ompl/base/spaces/TimeStateSpace.h"
38 #include "ompl/util/Exception.h"
39 #include "ompl/tools/config/MagicConstants.h"
56 space_->enforceBounds(state);
63 space_->enforceBounds(state);
73 if (minTime > maxTime)
74 throw Exception(
"The maximum position in time cannot be before the minimum position in time");
83 return bounded_ ? maxTime_ - minTime_ : 1.0;
100 return !bounded_ || (state->
as<
StateType>()->position >= minTime_ - std::numeric_limits<double>::epsilon() &&
101 state->
as<
StateType>()->position <= maxTime_ + std::numeric_limits<double>::epsilon());
111 return sizeof(double);
165 virtual unsigned int getDimension(
void)
const
170 virtual void defaultCellSizes(
void)
172 cellSizes_.resize(1);
185 registerDefaultProjection(
ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(
new TimeDefaultProjection(
this))));
190 return index == 0 ? &(state->
as<
StateType>()->position) : NULL;
195 out <<
"TimeState [";
200 out <<
']' << std::endl;
205 out <<
"Time state space '" << getName() <<
"'" << std::endl;