EmptyStateSpace.h
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2021,
5  * Max Planck Institute for Intelligent Systems (MPI-IS).
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of the MPI-IS nor the names
19  * of its contributors may be used to endorse or promote products
20  * derived from this software without specific prior written
21  * permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *********************************************************************/
36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_BASE_SPACES_EMPTY_STATE_SPACE_
40 #define OMPL_BASE_SPACES_EMPTY_STATE_SPACE_
41 #include <ompl/base/spaces/RealVectorStateSpace.h>
42 
43 namespace ompl
44 {
45  namespace base
46  {
50  class EmptyStateSpace : public RealVectorStateSpace
51  {
52  public:
53  EmptyStateSpace()
55  {
56  setName("EmptySpace");
57  }
58  ~EmptyStateSpace() override = default;
59 
60  double getMeasure() const override
61  {
62  return 0;
63  }
64 
65  void setup() override
66  {
67  return;
68  }
69 
70  unsigned int getDimension() const override
71  {
72  return 0;
73  }
74 
75  double getMaximumExtent() const override
76  {
77  return 0;
78  }
79 
80  };
81  }
82 }
83 
84 #endif
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
RealVectorStateSpace(unsigned int dim=0)
Constructor. The dimension of of the space needs to be specified. A space representing Rdim will be i...
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Main namespace. Contains everything in this library.