37 #ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
38 #define OMPL_BASE_SPACES_REAL_VECTOR_STATE_SPACE_
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorBounds.h"
119 void addDimension(
double minBound = 0.0,
double maxBound = 0.0);
122 void addDimension(
const std::string &name,
double minBound = 0.0,
double maxBound = 0.0);
126 void setBounds(
const RealVectorBounds &bounds);
160 virtual void serialize(
void *serialization,
const State *state)
const;
184 virtual void setup(
void);
203 std::size_t stateBytes_;
int getDimensionIndex(const std::string &name) const
Get the index of a specific dimension, by name. Return -1 if name is not found.
void setName(const std::string &name)
Set the name of the state space.
double operator[](unsigned int i) const
Access element i of values. This does not check whether the index is within bounds.
int type_
A type assigned for this state space.
State sampler for the Rn state space.
virtual void setup(void)
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 satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
std::vector< std::string > dimensionNames_
Optional names for individual dimensions.
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
A boost shared pointer wrapper for ompl::base::StateSampler.
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 na...
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance, near[i]+distance]. If this interval exceeds the state space bounds, the interval is truncated.
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
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-...
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
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 addre...
virtual void freeState(State *state) const
Free the memory of the allocated state.
unsigned int dimension_
The dimension of the space.
double & operator[](unsigned int i)
Access element i of values. This does not check whether the index is within bounds.
RealVectorStateSampler(const StateSpace *space)
Constructor.
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
const std::string & getName(void) const
Get the name of the state space.
std::map< std::string, unsigned int > dimensionIndex_
Map from names to index values for dimensions.
RealVectorBounds bounds_
The bounds of the space (used for sampling)
A state space representing Rn. The distance function is the L2 norm.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition of an abstract state.
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and st...
void setDimensionName(unsigned int index, const std::string &name)
Set the name of a dimension.
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
The lower and upper bounds for an Rn space.
ompl::base::RealVectorStateSpace
double * values
The value of the actual vector in Rn
The definition of a state in Rn
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
RealVectorStateSpace(unsigned int dim=0)
Constructor. The dimension of of the space needs to be specified. A space representing Rdim will be i...
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
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 add...
Abstract definition of a state space sampler.
const RealVectorBounds & getBounds(void) const
Get the bounds for this state space.
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual void sampleUniform(State *state)
Sample a state.
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...
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...