RealVectorStateSpace.cpp
55 void ompl::base::RealVectorStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
67 void ompl::base::RealVectorStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
106 void ompl::base::RealVectorStateSpace::addDimension(const std::string &name, double minBound, double maxBound)
156 void ompl::base::RealVectorStateSpace::setDimensionName(unsigned int index, const std::string &name)
212 memcpy(static_cast<StateType *>(destination)->values, static_cast<const StateType *>(source)->values, stateBytes_);
225 void ompl::base::RealVectorStateSpace::deserialize(State *state, const void *serialization) const
230 double ompl::base::RealVectorStateSpace::distance(const State *state1, const State *state2) const
244 bool ompl::base::RealVectorStateSpace::equalStates(const State *state1, const State *state2) const
257 void ompl::base::RealVectorStateSpace::interpolate(const State *from, const State *to, const double t,
286 double *ompl::base::RealVectorStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and st...
Definition: RealVectorStateSpace.cpp:67
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: RealVectorStateSpace.cpp:188
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: RealVectorStateSpace.cpp:267
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Definition: RealVectorStateSpace.cpp:210
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: RealVectorStateSpace.cpp:244
void addDimension(double minBound=0.0, double maxBound=0.0)
Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this add...
Definition: RealVectorStateSpace.cpp:112
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: RealVectorStateSpace.cpp:167
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition: RealVectorStateSpace.cpp:178
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: RealVectorStateSpace.cpp:272
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition: RealVectorStateSpace.cpp:215
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: RealVectorStateSpace.cpp:286
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space)
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition: RealVectorStateSpace.cpp:225
A state space representing Rn. The distance function is the L2 norm.
Definition: RealVectorStateSpace.h:137
int getDimensionIndex(const std::string &name) const
Get the index of a specific dimension, by name. Return -1 if name is not found.
Definition: RealVectorStateSpace.cpp:150
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: RealVectorStateSpace.cpp:230
void freeState(State *state) const override
Free the memory of the allocated state.
Definition: RealVectorStateSpace.cpp:279
void interpolate(const State *from, const State *to, 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: RealVectorStateSpace.cpp:257
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: RealVectorStateSpace.cpp:200
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition: RealVectorStateSpace.cpp:220
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
Definition: RealVectorStateSpace.cpp:121
The definition of a state in Rn
Definition: RealVectorStateSpace.h:141
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition: RealVectorStateSpace.cpp:138
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:137
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition: RealVectorStateSpace.cpp:291
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition: RealVectorStateSpace.cpp:309
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance,...
Definition: RealVectorStateSpace.cpp:55
A shared pointer wrapper for ompl::base::StateSampler.
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: StateSpace.cpp:237
const std::string & getDimensionName(unsigned int index) const
Each dimension can optionally have a name associated to it. If it does, this function returns that na...
Definition: RealVectorStateSpace.cpp:143
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
Definition: RealVectorStateSpace.cpp:85
void setDimensionName(unsigned int index, const std::string &name)
Set the name of a dimension.
Definition: RealVectorStateSpace.cpp:156
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: RealVectorStateSpace.cpp:100
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:111