SO2StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SO2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SO2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
46 
49  {
50  public:
51 
53  SO2StateSampler(const StateSpace *space) : StateSampler(space)
54  {
55  }
56 
57  virtual void sampleUniform(State *state);
58  virtual void sampleUniformNear(State *state, const State *near, const double distance);
59  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
60  };
61 
65  class SO2StateSpace : public StateSpace
66  {
67  public:
68 
70  class StateType : public State
71  {
72  public:
73 
75  void setIdentity()
76  {
77  value = 0.0;
78  }
79 
81  double value;
82  };
83 
85  {
86  setName("SO2" + getName());
88  }
89 
90  virtual ~SO2StateSpace()
91  {
92  }
93 
94  virtual unsigned int getDimension() const;
95 
96  virtual double getMaximumExtent() const;
97 
98  virtual double getMeasure() const;
99 
101  virtual void enforceBounds(State *state) const;
102 
104  virtual bool satisfiesBounds(const State *state) const;
105 
106  virtual void copyState(State *destination, const State *source) const;
107 
108  virtual unsigned int getSerializationLength() const;
109 
110  virtual void serialize(void *serialization, const State *state) const;
111 
112  virtual void deserialize(State *state, const void *serialization) const;
113 
114  virtual double distance(const State *state1, const State *state2) const;
115 
116  virtual bool equalStates(const State *state1, const State *state2) const;
117 
118  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
119 
120  virtual StateSamplerPtr allocDefaultStateSampler() const;
121 
122  virtual State* allocState() const;
123 
124  virtual void freeState(State *state) const;
125 
126  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
127 
128  virtual void printState(const State *state, std::ostream &out) const;
129 
130  virtual void printSettings(std::ostream &out) const;
131 
132  virtual void registerProjections();
133  };
134  }
135 }
136 
137 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:203
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
void setIdentity()
Set the state to identity – no rotation (value = 0.0)
Definition: SO2StateSpace.h:75
int type_
A type assigned for this state space.
Definition: StateSpace.h:503
virtual unsigned int getDimension() const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
virtual double getMaximumExtent() const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
double value
The value of the angle in the interval (-Pi, Pi].
Definition: SO2StateSpace.h:81
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
SO2StateSampler(const StateSpace *space)
Constructor.
Definition: SO2StateSpace.h:53
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
The definition of a state in SO(2)
Definition: SO2StateSpace.h:70
Main namespace. Contains everything in this library.
Definition: Cost.h:42
virtual StateSamplerPtr allocDefaultStateSampler() const
Allocate an instance of the default uniform state sampler for this space.
virtual void sampleUniform(State *state)
Sample a state.
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
State space sampler for SO(2)
Definition: SO2StateSpace.h:48
Definition of an abstract state.
Definition: State.h:50
ompl::base::SO2StateSpace
virtual bool satisfiesBounds(const State *state) const
Check if the value of the state is in the interval (-Pi, Pi].
virtual State * allocState() const
Allocate a state that can store a point in the described space.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
virtual double * getValueAddressAtIndex(State *state, const unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition: SO2StateSpace.h:65
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:198
Abstract definition of a state space sampler.
Definition: StateSampler.h:66
virtual void enforceBounds(State *state) const
Normalize the value of the state to the interval (-Pi, Pi].
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void freeState(State *state) const
Free the memory of the allocated state.
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
virtual double getMeasure() const
Get a measure of the space (this can be thought of as a generalization of volume) ...
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.