TimeStateSpace.cpp
46 space_->as<TimeStateSpace>()->getMinTimeBound(), space_->as<TimeStateSpace>()->getMaxTimeBound());
51 void ompl::base::TimeStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
59 void ompl::base::TimeStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
104 return !bounded_ || (state->as<StateType>()->position >= minTime_ - std::numeric_limits<double>::epsilon() &&
139 void ompl::base::TimeStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
142 from->as<StateType>()->position + (to->as<StateType>()->position - from->as<StateType>()->position) * t;
197 double *ompl::base::TimeStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition: TimeStateSpace.cpp:123
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: TimeStateSpace.cpp:145
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition: TimeStateSpace.cpp:66
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:134
double getMinTimeBound() const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded.
Definition: TimeStateSpace.h:168
void freeState(State *state) const override
Free the memory of the allocated state.
Definition: TimeStateSpace.cpp:155
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
Definition: TimeStateSpace.cpp:71
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op,...
Definition: TimeStateSpace.h:133
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition: TimeStateSpace.cpp:113
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Definition: TimeStateSpace.cpp:108
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition: TimeStateSpace.cpp:118
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: TimeStateSpace.cpp:81
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: TimeStateSpace.cpp:91
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Definition: TimeStateSpace.cpp:51
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: TimeStateSpace.cpp:197
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: TimeStateSpace.cpp:128
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: TimeStateSpace.cpp:150
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:194
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition: TimeStateSpace.cpp:212
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition: TimeStateSpace.cpp:86
The definition of a time state.
Definition: TimeStateSpace.h:137
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
Definition: MagicConstants.h:119
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: TimeStateSpace.cpp:139
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: TimeStateSpace.cpp:202
A shared pointer wrapper for ompl::base::StateSampler.
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: TimeStateSpace.cpp:102
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: TimeStateSpace.cpp:133
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
Definition: TimeStateSpace.cpp:59
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
Definition: TimeStateSpace.cpp:160