Available Spaces

State Spaces

This set of state spaces is included in OMPL:

• Rⁿ (ompl::base::RealVectorStateSpace),
• SO(2) (rotation in the plane, ompl::base::SO2StateSpace),
• SO(3) (rotation in 3D, ompl::base::SO3StateSpace),
• SE(2) (rotation and translation in the plane, ompl::base::SE2StateSpace),
• SE(3) (rotation and translation in 3D, ompl::base::SE3StateSpace),
• Time (representation of time, ompl::base::TimeStateSpace),
• Discrete (representation of discrete states, ompl::base::DiscreteStateSpace),
• Dubins (representation of a Dubins car's state space, ompl::base::DubinsStateSpace),
• ReedsShepp (representation of a Reeds-Shepp car's state space, ompl::base::ReedsSheppStateSpace),
• Extensions of the Dubins model to 3D (useful for planning motions for UAVs and UUVs):
  • The model proposed by Owen et al., ompl::base::OwenStateSpace,
  • The model proposed by Váňa et al., ompl::base::VanaStateSpace,
  • A hybrid of these models proposed by Moll that combines the best elements of both, ompl::base::VanaOwenStatespace,
• A couple of "special" topological spaces: ompl::base::KleinBottleStateSpace, ompl::base::MobiusStateSpace, ompl::base::SphereStateSpace, and ompl::base::TorusStateSpace,
• Constrained state spaces (ompl::base::ConstrainedStateSpace) to represent implicitly defined spaces when planning with constraints. There are several derived classes corresponding to different methodologies for dealing with constraints:
  • ompl::base::ProjectedStateSpace: uses Newton's method to project states in the ambient configuration space onto the constraint manifold.
  • ompl::base::AtlasStateSpace: a state space that incrementally builds up an atlas approximation of the constraint manifold.
  • ompl::base::TangentBundleStateSpace: a state space that is derived from the atlas state space and performs some operations lazily.

In addition, the ompl::base::CompoundStateSpace allows users to create arbitrarily complex state spaces out of simpler state spaces.

Control Spaces

This set of control spaces is included in OMPL:

• Rⁿ (ompl::control::RealVectorControlSpace).
• Discrete (ompl::control::DiscreteControlSpace).