SE2StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SE2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO2StateSpace.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
49  class SE2StateSpace : public CompoundStateSpace
50  {
51  public:
54  {
55  public:
56  StateType() = default;
57 
59  double getX() const
60  {
61  return as<RealVectorStateSpace::StateType>(0)->values[0];
62  }
63 
65  double getY() const
66  {
67  return as<RealVectorStateSpace::StateType>(0)->values[1];
68  }
69 
73  double getYaw() const
74  {
75  return as<SO2StateSpace::StateType>(1)->value;
76  }
77 
79  void setX(double x)
80  {
81  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
82  }
83 
85  void setY(double y)
86  {
87  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
88  }
89 
91  void setXY(double x, double y)
92  {
93  setX(x);
94  setY(y);
95  }
96 
100  void setYaw(double yaw)
101  {
102  as<SO2StateSpace::StateType>(1)->value = yaw;
103  }
104  };
105 
106  SE2StateSpace()
107  {
108  setName("SE2" + getName());
110  addSubspace(std::make_shared<RealVectorStateSpace>(2), 1.0);
111  addSubspace(std::make_shared<SO2StateSpace>(), 0.5);
112  lock();
113  }
114 
115  ~SE2StateSpace() override = default;
116 
118  void setBounds(const RealVectorBounds &bounds)
119  {
120  as<RealVectorStateSpace>(0)->setBounds(bounds);
121  }
122 
124  const RealVectorBounds &getBounds() const
125  {
126  return as<RealVectorStateSpace>(0)->getBounds();
127  }
128 
129  State *allocState() const override;
130  void freeState(State *state) const override;
131 
132  void registerProjections() override;
133  };
134  }
135 }
136 
137 #endif
double getX() const
Get the X component of the state.
double getY() const
Get the Y component of the state.
State * allocState() const override
Allocate a state that can store a point in the described space.
double getYaw() const
Get the yaw component of the state. This is the rotation in plane, with respect to the Z axis.
void setYaw(double yaw)
Set the yaw component of the state. This is the rotation in plane, with respect to the Z axis.
void setX(double x)
Set the X component of the state.
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
@ STATE_SPACE_SE2
ompl::base::SE2StateSpace
void setY(double y)
Set the Y component of the state.
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
A state space representing SE(2)
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
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:641
void setXY(double x, double y)
Set the X and Y components of the state.
void freeState(State *state) const override
Free the memory of the allocated state.
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
Definition: StateSpace.cpp:871
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
Main namespace. Contains everything in this library.
The lower and upper bounds for an Rn space.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...