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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
42namespace ompl
43{
44 namespace base
45 {
48 {
49 public:
52 {
53 }
54
55 void sampleUniform(State *state) override;
56 void sampleUniformNear(State *state, const State *near, double distance) override;
57 void sampleGaussian(State *state, const State *mean, double stdDev) override;
58 };
59
64 {
65 public:
67 class StateType : public State
68 {
69 public:
72 {
73 value = 0.0;
74 }
75
77 double value;
78 };
79
81 {
82 setName("SO2" + getName());
84 }
85
86 ~SO2StateSpace() override = default;
87
88 unsigned int getDimension() const override;
89
90 double getMaximumExtent() const override;
91
92 double getMeasure() const override;
93
95 void enforceBounds(State *state) const override;
96
98 bool satisfiesBounds(const State *state) const override;
99
100 void copyState(State *destination, const State *source) const override;
101
102 unsigned int getSerializationLength() const override;
103
104 void serialize(void *serialization, const State *state) const override;
105
106 void deserialize(State *state, const void *serialization) const override;
107
108 double distance(const State *state1, const State *state2) const override;
109
110 bool equalStates(const State *state1, const State *state2) const override;
111
112 void interpolate(const State *from, const State *to, double t, State *state) const override;
113
115
116 State *allocState() const override;
117
118 void freeState(State *state) const override;
119
120 double *getValueAddressAtIndex(State *state, unsigned int index) const override;
121
122 void printState(const State *state, std::ostream &out) const override;
123
124 void printSettings(std::ostream &out) const override;
125
126 void registerProjections() override;
127 };
128 }
129}
130
131#endif
State space sampler for SO(2)
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
SO2StateSampler(const StateSpace *space)
Constructor.
void sampleUniform(State *state) override
Sample a state.
The definition of a state in SO(2)
void setIdentity()
Set the state to identity – no rotation (value = 0.0)
double value
The value of the angle in the interval (-Pi, Pi].
A state space representing SO(2). The distance function and interpolation take into account angle wra...
void enforceBounds(State *state) const override
Normalize the value of the state to the interval [-Pi, Pi)
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
void freeState(State *state) const override
Free the memory of the allocated state.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
State * allocState() const override
Allocate a state that can store a point in the described space.
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
bool satisfiesBounds(const State *state) const override
Check if the value of the state is in the interval [-Pi, Pi)
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
A shared pointer wrapper for ompl::base::StateSampler.
Abstract definition of a state space sampler.
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition StateSpace.h:71
int type_
A type assigned for this state space.
Definition StateSpace.h:531
void setName(const std::string &name)
Set the name of the state space.
const std::string & getName() const
Get the name of the state space.
Definition of an abstract state.
Definition State.h:50
@ STATE_SPACE_SO2
ompl::base::SO2StateSpace
Main namespace. Contains everything in this library.