SO2StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SO2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SO2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
47  class SO2StateSampler : public StateSampler
48  {
49  public:
51  SO2StateSampler(const StateSpace *space) : StateSampler(space)
52  {
53  }
54 
55  void sampleUniform(State *state) override;
56  void sampleUniformNear(State *state, const State *near, double distance) override;
57  void sampleGaussian(State *state, const State *mean, double stdDev) override;
58  };
59 
63  class SO2StateSpace : public StateSpace
64  {
65  public:
67  class StateType : public State
68  {
69  public:
71  void setIdentity()
72  {
73  value = 0.0;
74  }
75 
77  double value;
78  };
79 
80  SO2StateSpace()
81  {
82  setName("SO2" + getName());
84  }
85 
86  ~SO2StateSpace() override = default;
87 
88  unsigned int getDimension() const override;
89 
90  double getMaximumExtent() const override;
91 
92  double getMeasure() const override;
93 
95  void enforceBounds(State *state) const override;
96 
98  bool satisfiesBounds(const State *state) const override;
99 
100  void copyState(State *destination, const State *source) const override;
101 
102  unsigned int getSerializationLength() const override;
103 
104  void serialize(void *serialization, const State *state) const override;
105 
106  void deserialize(State *state, const void *serialization) const override;
107 
108  double distance(const State *state1, const State *state2) const override;
109 
110  bool equalStates(const State *state1, const State *state2) const override;
111 
112  void interpolate(const State *from, const State *to, double t, State *state) const override;
113 
114  StateSamplerPtr allocDefaultStateSampler() const override;
115 
116  State *allocState() const override;
117 
118  void freeState(State *state) const override;
119 
120  double *getValueAddressAtIndex(State *state, unsigned int index) const override;
121 
122  void printState(const State *state, std::ostream &out) const override;
123 
124  void printSettings(std::ostream &out) const override;
125 
126  void registerProjections() override;
127  };
128  }
129 }
130 
131 #endif
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
bool satisfiesBounds(const State *state) const override
Check if the value of the state is in the interval [-Pi, Pi)
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition of an abstract state.
Definition: State.h:114
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
void enforceBounds(State *state) const override
Normalize the value of the state to the interval [-Pi, Pi)
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
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....
double value
The value of the angle in the interval (-Pi, Pi].
@ STATE_SPACE_SO2
ompl::base::SO2StateSpace
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:142
void freeState(State *state) const override
Free the memory of the allocated state.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void sampleUniform(State *state) override
Sample a state.
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
int type_
A type assigned for this state space.
Definition: StateSpace.h:595
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
SO2StateSampler(const StateSpace *space)
Constructor.
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...
void setIdentity()
Set the state to identity – no rotation (value = 0.0)
A shared pointer wrapper for ompl::base::StateSampler.
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...
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22