Definition of a scoped state. More...

#include <ompl/base/ScopedState.h>

Public Types
using	StateType = typename T::StateType
	The type of the contained state.

Public Member Functions
	ScopedState (const SpaceInformationPtr &si)
	Given the space that we are working with, allocate a state from the corresponding state space.

	ScopedState (StateSpacePtr space)
	Given the state space that we are working with, allocate a state.

	ScopedState (const ScopedState< T > &other)
	Copy constructor.

template<class O >
	ScopedState (const ScopedState< O > &other)
	Copy constructor that allows instantiation from states of other type.

	ScopedState (StateSpacePtr space, const State *state)
	Given the state space that we are working with, allocate a state and fill that state with a given value.

	~ScopedState ()
	Free the memory of the internally allocated state.

const StateSpacePtr &	getSpace () const
	Get the state space that the state corresponds to.

ScopedState< T > &	operator= (const ScopedState< T > &other)
	Assignment operator.

ScopedState< T > &	operator= (const State *other)
	Assignment operator.

ScopedState< T > &	operator= (const State &other)
	Assignment operator.

template<class O >
ScopedState< T > &	operator= (const ScopedState< O > &other)
	Assignment operator that allows conversion of states.

ScopedState< T > &	operator= (const std::vector< double > &reals)
	Partial assignment operator. Only sets the double values of the state to specified real values.

ScopedState< T > &	operator= (const double value)
	Partial assignment operator. Only sets the double values of the state to a fixed value.

template<class O >
bool	operator== (const ScopedState< O > &other) const
	Checks equality of two states.

template<class O >
bool	operator!= (const ScopedState< O > &other) const
	Checks equality of two states.

const ScopedState	operator[] (const StateSpacePtr &s) const
	Extract a state that corresponds to the components in state space s. Those components will have the same value as the current state (only the ones included in the current state; others will be uninitialised). Note: a new state is constructed and data is copied.

double &	operator[] (const unsigned int index)
	Access the index^th double value this state contains.

double	operator[] (const unsigned int index) const
	Access the index^th double value this state contains.

double &	operator[] (const std::string &name)
	Access a double value from this state contains using its name.

double	operator[] (const std::string &name) const
	Access a double value from this state contains using its name.

template<class O >
double	distance (const ScopedState< O > &other) const
	Compute the distance to another state.

double	distance (const State *state) const
	Compute the distance to another state.

void	random ()
	Set this state to a random value (uniform)

void	enforceBounds ()
	Enforce the bounds on the maintained state.

bool	satisfiesBounds () const
	Check if the maintained state satisfies bounds.

std::vector< double >	reals () const
	Return the real values corresponding to this state. If a conversion is not possible, an exception is thrown.

void	print (std::ostream &out=std::cout) const
	Print this state to a stream.

StateType &	operator* ()
	De-references to the contained state.

const StateType &	operator* () const
	De-references to the contained state.

StateType *	operator-> ()
	Returns a pointer to the contained state.

const StateType *	operator-> () const
	Returns a pointer to the contained state.

StateType *	get ()
	Returns a pointer to the contained state.

const StateType *	get () const
	Returns a pointer to the contained state.

StateType *	operator() () const
	Returns a pointer to the contained state (used for Python bindings)

Detailed Description

template<class T = StateSpace>
class ompl::base::ScopedState< T >

Definition of a scoped state.

This class allocates a state of a desired type using the allocation mechanism of the corresponding state space. The state is then freed when the instance goes out of scope using the corresponding free mechanism.

Definition at line 120 of file ScopedState.h.

The documentation for this class was generated from the following file:

ompl/base/ScopedState.h

Public Types

Public Member Functions

Detailed Description

template<class T = StateSpace> class ompl::base::ScopedState< T >

template<class T = StateSpace>
class ompl::base::ScopedState< T >