CForestStateSpaceWrapper.h
167 void interpolate(const State *from, const State *to, const double t, State *state) const override
virtual void freeState(State *state) const =0
Free the memory of the allocated state.
bool isHybrid() const override
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition: CForestStateSpaceWrapper.h:127
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition: CForestStateSpaceWrapper.h:219
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
Definition: StateSpace.cpp:375
virtual double getLongestValidSegmentFraction() const
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:841
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:134
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: CForestStateSpaceWrapper.cpp:40
void printProjections(std::ostream &out) const override
Print the list of registered projections. This function is also called by printSettings()
Definition: CForestStateSpaceWrapper.h:227
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
Definition: StateSpace.cpp:384
virtual void interpolate(const State *from, const State *to, double t, State *state) const =0
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
bool hasSymmetricDistance() const override
Check if the distance function on this state space is symmetric, i.e. distance(s1,...
Definition: CForestStateSpaceWrapper.h:135
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition: CForestStateSpaceWrapper.h:163
virtual void copyState(State *destination, const State *source) const =0
Copy a state to another. The memory of source and destination should NOT overlap.
virtual void enforceBounds(State *state) const =0
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition: CForestStateSpaceWrapper.h:183
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition: CForestStateSpaceWrapper.h:191
virtual bool isHybrid() const
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition: StateSpace.cpp:775
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition: CForestStateSpaceWrapper.h:155
virtual bool isMetricSpace() const
Return true if the distance function associated with the space is a metric.
Definition: StateSpace.h:247
StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const override
Allocate a sampler that actually samples only components that are part of subspace.
Definition: CForestStateSpaceWrapper.h:239
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space)
StateSamplerPtr allocSubspaceStateSampler(const StateSpacePtr &subspace) const
Allocate a sampler that actually samples only components that are part of subspace.
Definition: StateSpace.cpp:808
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: CForestStateSpaceWrapper.h:195
void freeState(State *state) const override
Free the memory of the allocated state.
Definition: CForestStateSpaceWrapper.h:207
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition: CForestStateSpaceWrapper.h:223
virtual bool isDiscrete() const
Check if the set of states is discrete.
Definition: StateSpace.cpp:770
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection....
Definition: StateSpace.cpp:233
void setLongestValidSegmentFraction(double segmentFraction) override
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: CForestStateSpaceWrapper.h:147
virtual void setLongestValidSegmentFraction(double segmentFraction)
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:828
bool isMetricSpace() const override
Return true if the distance function associated with the space is a metric.
Definition: CForestStateSpaceWrapper.h:131
bool isDiscrete() const override
Check if the set of states is discrete.
Definition: CForestStateSpaceWrapper.h:123
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: CForestStateSpaceWrapper.cpp:54
StateSamplerPtr allocStateSampler() const override
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
Definition: CForestStateSpaceWrapper.cpp:47
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
Definition: StateSpace.cpp:393
virtual void sanityChecks(double zero, double eps, unsigned int flags) const
Perform sanity checks for this state space. Throws an exception if failures are found.
Definition: StateSpace.cpp:609
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: CForestStateSpaceWrapper.h:203
virtual void computeLocations()
Compute the location information for various components of the state space. Either this function or s...
Definition: StateSpace.cpp:214
unsigned int validSegmentCount(const State *state1, const State *state2) const override
Count how many segments of the "longest valid length" fit on the motion from state1 to state2.
Definition: CForestStateSpaceWrapper.h:151
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition: CForestStateSpaceWrapper.h:179
double getLongestValidSegmentFraction() const override
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: CForestStateSpaceWrapper.h:143
void sanityChecks() const override
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition: CForestStateSpaceWrapper.h:235
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
Definition: CForestStateSpaceWrapper.h:167
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Definition: CForestStateSpaceWrapper.h:175
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: CForestStateSpaceWrapper.h:159
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
Definition: CForestStateSpaceWrapper.h:171
virtual bool satisfiesBounds(const State *state) const =0
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition: CForestStateSpaceWrapper.h:187
double * getValueAddressAtIndex(State *state, const unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: CForestStateSpaceWrapper.h:211
virtual double getMaximumExtent() const =0
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void computeLocations() override
Compute the location information for various components of the state space. Either this function or s...
Definition: CForestStateSpaceWrapper.h:243
virtual bool equalStates(const State *state1, const State *state2) const =0
Checks whether two states are equal.
bool hasSymmetricInterpolate() const override
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...
Definition: CForestStateSpaceWrapper.h:139
virtual double * getValueAddressAtIndex(State *state, unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: StateSpace.cpp:306
virtual double getMeasure() const =0
Get a measure of the space (this can be thought of as a generalization of volume)
void interpolate(const State *from, const State *to, const double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
Definition: CForestStateSpaceWrapper.h:199
virtual bool hasSymmetricDistance() const
Check if the distance function on this state space is symmetric, i.e. distance(s1,...
Definition: StateSpace.cpp:780
virtual State * allocState() const =0
Allocate a state that can store a point in the described space.
A shared pointer wrapper for ompl::base::StateSampler.
virtual void printProjections(std::ostream &out) const
Print the list of registered projections. This function is also called by printSettings()
Definition: StateSpace.cpp:399
virtual double distance(const State *state1, const State *state2) const =0
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual bool hasSymmetricInterpolate() const
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...
Definition: StateSpace.cpp:785
virtual unsigned int validSegmentCount(const State *state1, const State *state2) const
Count how many segments of the "longest valid length" fit on the motion from state1 to state2.
Definition: StateSpace.cpp:851
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
Definition: StateSpace.cpp:380
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
Definition: CForestStateSpaceWrapper.h:215
bool isCompound() const override
Check if the state space is compound.
Definition: CForestStateSpaceWrapper.h:119
virtual void printState(const State *state, std::ostream &out=std::cout) const
Print a state to a stream.
Definition: StateSpace.cpp:388