ConstrainedStateSpace.cpp
50 ompl::base::ConstrainedMotionValidator::ConstrainedMotionValidator(const SpaceInformationPtr &si)
102 ompl::base::ConstrainedStateSpace::ConstrainedStateSpace(const StateSpacePtr &space, const ConstraintPtr &constraint)
142 if (flags & CONSTRAINED_STATESPACE_SAMPLERS && (!constraint_->isSatisfied(s1) || !constraint_->isSatisfied(s2)))
251 std::size_t newStride = space_->getValueAddressAtIndex(state, i) - space_->getValueAddressAtIndex(state, i - 1);
270 void ompl::base::ConstrainedStateSpace::interpolate(const State *from, const State *to, const double t,
287 ompl::base::State *ompl::base::ConstrainedStateSpace::geodesicInterpolate(const std::vector<State *> &geodesic,
315 assert((t1 < t2 || std::abs(t1 - t2) < std::numeric_limits<double>::epsilon()) ? (i < geodesic.size()) : (i + 1 < geodesic.size()));
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:145
static const unsigned int TEST_STATE_COUNT
When multiple states need to be generated as part of the computation of various information (usually ...
Definition: MagicConstants.h:165
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::base::Constraint.
ConstrainedMotionValidator(SpaceInformation *si)
Constructor.
Definition: ConstrainedStateSpace.cpp:45
void interpolate(const State *from, const State *to, double t, State *state) const override
Find a state between from and to around time t, where t = 0 is from, and t = 1 is the final state rea...
Definition: ConstrainedStateSpace.cpp:270
ConstrainedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)
Construct a constrained space from an ambientSpace and a constraint.
Definition: ConstrainedStateSpace.cpp:102
virtual void sanityChecks() const
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition: StateSpace.cpp:603
virtual void clear()
Clear any allocated memory from the state space.
Definition: ConstrainedStateSpace.cpp:261
Abstract definition for a class checking the validity of motions – path segments between states....
Definition: MotionValidator.h:128
void setDelta(double delta)
Set delta, the step size for traversing the manifold and collision checking. Default defined by ompl:...
Definition: ConstrainedStateSpace.cpp:211
void constrainedSanityChecks(unsigned int flags) const
Do some sanity checks relating to discrete geodesic computation and constraint satisfaction....
Definition: ConstrainedStateSpace.cpp:111
A StateSpace that has a Constraint imposed upon it. Underlying space functions are passed to the ambi...
Definition: ConstrainedStateSpace.h:165
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: WrapperStateSpace.cpp:77
bool checkMotion(const State *s1, const State *s2) const override
Return whether we can step from s1 to s2 along the manifold without collision.
Definition: ConstrainedStateSpace.cpp:55
virtual State * geodesicInterpolate(const std::vector< State * > &geodesic, double t) const
Like interpolate(...), but interpolates between intermediate states already supplied in stateList fro...
Definition: ConstrainedStateSpace.cpp:287
A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and...
Definition: ConstrainedStateSpace.h:200
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::base::StateSampler.
State * allocState() const override
Allocate a new state in this space.
Definition: ConstrainedStateSpace.cpp:265
State space wrapper that transparently passes state space operations through to the underlying space....
Definition: WrapperStateSpace.h:163
void sanityChecks() const override
Perform both constrained and regular sanity checks.
Definition: ConstrainedStateSpace.cpp:186
void setSpaceInformation(SpaceInformation *si)
Sets the space information for this state space. Required for collision checking in manifold traversa...
Definition: ConstrainedStateSpace.cpp:198