A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and efficiency of various Constraint related operations, this State inherits from Eigen::Map<Eigen::VectorXd>, mapping the underlying dense double vector into an Eigen::VectorXd. Note that this state type inherits from WrapperStateSpace::StateType, and as such the underlying state can be accessed by getState(). More...

`#include <ompl/base/spaces/constraint/ConstrainedStateSpace.h>`

## Public Member Functions | |

StateType (const ConstrainedStateSpace *space) | |

Constructor. Requires space to setup information about underlying state. | |

void | copy (const Eigen::Ref< const Eigen::VectorXd > &other) |

Copy the contents from a vector into this state. Uses the underlying copy operator used by Eigen for dense vectors. | |

Public Member Functions inherited from ompl::base::WrapperStateSpace::StateType | |

StateType (State *state) | |

Constructor. Takes a reference state to the underlying state. | |

const State * | getState () const |

Get a const pointer to the underlying state. | |

State * | getState () |

Get a pointer to the underlying state. | |

Public Member Functions inherited from ompl::base::State | |

template<class T > | |

const T * | as () const |

Cast this instance to a desired type. More... | |

template<class T > | |

T * | as () |

Cast this instance to a desired type. More... | |

## Additional Inherited Members | |

Protected Attributes inherited from ompl::base::WrapperStateSpace::StateType | |

State * | state_ |

Underlying state. | |

## Detailed Description

A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and efficiency of various Constraint related operations, this State inherits from Eigen::Map<Eigen::VectorXd>, mapping the underlying dense double vector into an Eigen::VectorXd. Note that this state type inherits from WrapperStateSpace::StateType, and as such the underlying state can be accessed by getState().

Definition at line 168 of file ConstrainedStateSpace.h.

The documentation for this class was generated from the following file:

- ompl/base/spaces/constraint/ConstrainedStateSpace.h