TypedSpaceInformation.h
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34 
35 /* Author: Neil T. Dantam */
36 
37 #ifndef OMPL_BASE_TYPED_SPACE_INFORMATION_
38 #define OMPL_BASE_TYPED_SPACE_INFORMATION_
39 
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/ScopedState.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
47  template <typename SpaceType_>
49  {
50  public:
51  /*--- Type Definitions ---*/
52 
54  using SpaceType = SpaceType_;
55 
57  using StateType = typename SpaceType::StateType;
58 
61 
63  using SpacePtr = std::shared_ptr<SpaceType>;
64 
66  using Ptr = std::shared_ptr<TypedSpaceInformation<SpaceType>>;
67 
68  /*--- Constructor ---*/
69 
72  {
73  }
74 
75  /*--- Space Accessors ---*/
76 
79  {
80  return getStateSpace()->template as<SpaceType>();
81  }
82 
85  {
86  return getStateSpace()->template as<SpaceType>();
87  }
88 
89  /*--- State Memory Management ---*/
90 
93  {
94  return this->allocState()->template as<StateType>();
95  }
96 
98  void allocTypedStates(std::vector<StateType *> &states) const
99  {
100  allocStates(states);
101  }
102 
104  void freeTypedState(StateType *state) const
105  {
106  freeState(state);
107  }
108 
110  void freeTypedStates(std::vector<StateType *> &states) const
111  {
112  freeStates(states);
113  }
114 
116  void copyTypedState(StateType *destination, const StateType *source) const
117  {
118  copyState(destination, source);
119  }
120 
122  StateType *cloneTypedState(const StateType *source) const
123  {
124  return this->cloneState()->template as<StateType>();
125  }
126 
127  static StateType *state_as(ompl::base::State *s)
128  {
129  return s->template as<StateType>();
130  }
131 
132  static const StateType *state_as(const ompl::base::State *s)
133  {
134  return s->template as<StateType>();
135  }
136  };
137  }
138 }
139 
140 #endif
void freeTypedStates(std::vector< StateType *> &states) const
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition of a scoped state.
Definition: ScopedState.h:56
TypedSpaceInformation(const SpacePtr &space)
void freeState(State *state) const
Free the memory of a state.
State * allocState() const
Allocate memory for a state.
const SpaceType * getTypedStateSpace() const
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
State * cloneState(const State *source) const
Clone a state.
void copyState(State *destination, const State *source) const
Copy a state to another.
typename SpaceType::StateType StateType
void allocTypedStates(std::vector< StateType *> &states) const
The base class for space information. This contains all the information about the space planning is d...
Definition of an abstract state.
Definition: State.h:49
StateType * cloneTypedState(const StateType *source) const
void freeTypedState(StateType *state) const
void freeStates(std::vector< State *> &states) const
Free the memory of an array of states.
std::shared_ptr< SpaceType > SpacePtr
void allocStates(std::vector< State *> &states) const
Allocate memory for each element of the array states.
void copyTypedState(StateType *destination, const StateType *source) const
std::shared_ptr< TypedSpaceInformation< SpaceType > > Ptr