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:
57  {
58  }
59 
61  double getX() const
62  {
63  return as<RealVectorStateSpace::StateType>(0)->values[0];
64  }
65 
67  double getY() const
68  {
69  return as<RealVectorStateSpace::StateType>(0)->values[1];
70  }
71 
75  double getYaw() const
76  {
77  return as<SO2StateSpace::StateType>(1)->value;
78  }
79 
81  void setX(double x)
82  {
83  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
84  }
85 
87  void setY(double y)
88  {
89  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
90  }
91 
93  void setXY(double x, double y)
94  {
95  setX(x);
96  setY(y);
97  }
98 
102  void setYaw(double yaw)
103  {
104  as<SO2StateSpace::StateType>(1)->value = yaw;
105  }
106  };
107 
109  {
110  setName("SE2" + getName());
112  addSubspace(std::make_shared<RealVectorStateSpace>(2), 1.0);
113  addSubspace(std::make_shared<SO2StateSpace>(), 0.5);
114  lock();
115  }
116 
117  ~SE2StateSpace() override = default;
118 
120  void setBounds(const RealVectorBounds &bounds)
121  {
122  as<RealVectorStateSpace>(0)->setBounds(bounds);
123  }
124 
127  {
128  return as<RealVectorStateSpace>(0)->getBounds();
129  }
130 
131  State *allocState() const override;
132  void freeState(State *state) const override;
133 
134  void registerProjections() override;
135  };
136  }
137 }
138 
139 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:214
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:81
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:67
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:209
double getX() const
Get the X component of the state.
Definition: SE2StateSpace.h:61
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:75
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
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:93
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:87
The lower and upper bounds for an Rn space.
CompoundStateSpace()
Construct an empty compound state 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.