SE2StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SE2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO2StateSpace.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
50  {
51  public:
54  {
55  public:
56  StateType() = default;
57 
59  double getX() const
60  {
61  return as<RealVectorStateSpace::StateType>(0)->values[0];
62  }
63 
65  double getY() const
66  {
67  return as<RealVectorStateSpace::StateType>(0)->values[1];
68  }
69 
73  double getYaw() const
74  {
75  return as<SO2StateSpace::StateType>(1)->value;
76  }
77 
79  void setX(double x)
80  {
81  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
82  }
83 
85  void setY(double y)
86  {
87  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
88  }
89 
91  void setXY(double x, double y)
92  {
93  setX(x);
94  setY(y);
95  }
96 
100  void setYaw(double yaw)
101  {
102  as<SO2StateSpace::StateType>(1)->value = yaw;
103  }
104  };
105 
106  SE2StateSpace()
107  {
108  setName("SE2" + getName());
110  addSubspace(std::make_shared<RealVectorStateSpace>(2), 1.0);
111  addSubspace(std::make_shared<SO2StateSpace>(), 0.5);
112  lock();
113  }
114 
115  ~SE2StateSpace() override = default;
116 
118  void setBounds(const RealVectorBounds &bounds)
119  {
120  as<RealVectorStateSpace>(0)->setBounds(bounds);
121  }
122 
125  {
126  return as<RealVectorStateSpace>(0)->getBounds();
127  }
128 
129  State *allocState() const override;
130  void freeState(State *state) const override;
131 
132  void registerProjections() override;
133  };
134  }
135 }
136 
137 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:212
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
A state in SE(2): (x, y, yaw)
Definition: SE2StateSpace.h:53
Definition of a compound state.
Definition: State.h:86
State * allocState() const override
Allocate a state that can store a point in the described space.
void setX(double x)
Set the X component of the state.
Definition: SE2StateSpace.h:79
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
double getY() const
Get the Y component of the state.
Definition: SE2StateSpace.h:65
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:207
double getX() const
Get the X component of the state.
Definition: SE2StateSpace.h:59
void setYaw(double yaw)
Set the yaw component of the state. This is the rotation in plane, with respect to the Z axis...
double getYaw() const
Get the yaw component of the state. This is the rotation in plane, with respect to the Z axis...
Definition: SE2StateSpace.h:73
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A space to allow the composition of state spaces.
Definition: StateSpace.h:573
A state space representing SE(2)
Definition: SE2StateSpace.h:49
void setXY(double x, double y)
Set the X and Y components of the state.
Definition: SE2StateSpace.h:91
ompl::base::SE2StateSpace
Definition of an abstract state.
Definition: State.h:49
void freeState(State *state) const override
Free the memory of the allocated state.
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
void setY(double y)
Set the Y component of the state.
Definition: SE2StateSpace.h:85
The lower and upper bounds for an Rn space.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection...
const RealVectorBounds & getBounds() const
Get the bounds for this state space.