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SO2StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SO2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SO2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
46 
49  {
50  public:
51 
53  SO2StateSampler(const StateSpace *space) : StateSampler(space)
54  {
55  }
56 
57  virtual void sampleUniform(State *state);
58  virtual void sampleUniformNear(State *state, const State *near, const double distance);
59  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
60  };
61 
65  class SO2StateSpace : public StateSpace
66  {
67  public:
68 
70  class StateType : public State
71  {
72  public:
73 
75  void setIdentity(void)
76  {
77  value = 0.0;
78  }
79 
81  double value;
82  };
83 
84  SO2StateSpace(void) : StateSpace()
85  {
86  setName("SO2" + getName());
88  }
89 
90  virtual ~SO2StateSpace(void)
91  {
92  }
93 
94  virtual unsigned int getDimension(void) const;
95 
96  virtual double getMaximumExtent(void) const;
97 
99  virtual void enforceBounds(State *state) const;
100 
102  virtual bool satisfiesBounds(const State *state) const;
103 
104  virtual void copyState(State *destination, const State *source) const;
105 
106  virtual unsigned int getSerializationLength(void) const;
107 
108  virtual void serialize(void *serialization, const State *state) const;
109 
110  virtual void deserialize(State *state, const void *serialization) const;
111 
112  virtual double distance(const State *state1, const State *state2) const;
113 
114  virtual bool equalStates(const State *state1, const State *state2) const;
115 
116  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
117 
118  virtual StateSamplerPtr allocDefaultStateSampler(void) const;
119 
120  virtual State* allocState(void) const;
121 
122  virtual void freeState(State *state) const;
123 
124  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
125 
126  virtual void printState(const State *state, std::ostream &out) const;
127 
128  virtual void printSettings(std::ostream &out) const;
129 
130  virtual void registerProjections(void);
131  };
132  }
133 }
134 
135 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:192
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
int type_
A type assigned for this state space.
Definition: StateSpace.h:497
double value
The value of the angle in the interval (-Pi, Pi].
Definition: SO2StateSpace.h:81
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 State * allocState(void) const
Allocate a state that can store a point in the described space.
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
SO2StateSampler(const StateSpace *space)
Constructor.
Definition: SO2StateSpace.h:53
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
The definition of a state in SO(2)
Definition: SO2StateSpace.h:70
virtual void sampleUniform(State *state)
Sample a state.
const std::string & getName(void) const
Get the name of the state space.
Definition: StateSpace.cpp:187
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
State space sampler for SO(2)
Definition: SO2StateSpace.h:48
Definition of an abstract state.
Definition: State.h:50
ompl::base::SO2StateSpace
virtual bool satisfiesBounds(const State *state) const
Check if the value of the state is in the interval (-Pi, Pi].
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
void setIdentity(void)
Set the state to identity – no rotation (value = 0.0)
Definition: SO2StateSpace.h:75
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 printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition: SO2StateSpace.h:65
Abstract definition of a state space sampler.
Definition: StateSampler.h:66
virtual void enforceBounds(State *state) const
Normalize the value of the state to the interval (-Pi, Pi].
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void freeState(State *state) const
Free the memory of the allocated 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...
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.