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  {
48  {
49  public:
51  SO2StateSampler(const StateSpace *space) : StateSampler(space)
52  {
53  }
54 
55  void sampleUniform(State *state) override;
56  void sampleUniformNear(State *state, const State *near, const double distance) override;
57  void sampleGaussian(State *state, const State *mean, const double stdDev) override;
58  };
59 
63  class SO2StateSpace : public StateSpace
64  {
65  public:
67  class StateType : public State
68  {
69  public:
71  void setIdentity()
72  {
73  value = 0.0;
74  }
75 
77  double value;
78  };
79 
81  {
82  setName("SO2" + getName());
83  type_ = STATE_SPACE_SO2;
84  }
85 
86  ~SO2StateSpace() override = default;
87 
88  unsigned int getDimension() const override;
89 
90  double getMaximumExtent() const override;
91 
92  double getMeasure() const override;
93 
95  void enforceBounds(State *state) const override;
96 
98  bool satisfiesBounds(const State *state) const override;
99 
100  void copyState(State *destination, const State *source) const override;
101 
102  unsigned int getSerializationLength() const override;
103 
104  void serialize(void *serialization, const State *state) const override;
105 
106  void deserialize(State *state, const void *serialization) const override;
107 
108  double distance(const State *state1, const State *state2) const override;
109 
110  bool equalStates(const State *state1, const State *state2) const override;
111 
112  void interpolate(const State *from, const State *to, const double t, State *state) const override;
113 
114  StateSamplerPtr allocDefaultStateSampler() const override;
115 
116  State *allocState() const override;
117 
118  void freeState(State *state) const override;
119 
120  double *getValueAddressAtIndex(State *state, const unsigned int index) const override;
121 
122  void printState(const State *state, std::ostream &out) const override;
123 
124  void printSettings(std::ostream &out) const override;
125 
126  void registerProjections() override;
127  };
128  }
129 }
130 
131 #endif
void setIdentity()
Set the state to identity – no rotation (value = 0.0)
Definition: SO2StateSpace.h:71
double value
The value of the angle in the interval (-Pi, Pi].
Definition: SO2StateSpace.h:77
A shared pointer wrapper for ompl::base::StateSampler.
void sampleUniform(State *state) override
Sample a state.
SO2StateSampler(const StateSpace *space)
Constructor.
Definition: SO2StateSpace.h:51
The definition of a state in SO(2)
Definition: SO2StateSpace.h:67
void sampleGaussian(State *state, const State *mean, const double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void sampleUniformNear(State *state, const State *near, const double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
State space sampler for SO(2)
Definition: SO2StateSpace.h:47
Definition of an abstract state.
Definition: State.h:49
ompl::base::SO2StateSpace
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition: SO2StateSpace.h:63
Abstract definition of a state space sampler.
Definition: StateSampler.h:64