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<div class="title">StateSpaceCollection.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2011, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/tools/spaces/StateSpaceCollection.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00039"></a>00039
<a name="l00040"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a5cb69b560f3987354aa86e33947188c6">00040</a> <span class="keyword">const</span> std::string& <a class="code" href="classompl_1_1StateSpaceCollection.html#a5cb69b560f3987354aa86e33947188c6" title="Get the name of the collection.">ompl::StateSpaceCollection::getName</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00041"></a>00041 <span class="keyword"></span>{
<a name="l00042"></a>00042 <span class="keywordflow">return</span> name_;
<a name="l00043"></a>00043 }
<a name="l00044"></a>00044
<a name="l00045"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#aca18325f0af1026d20cc809476a7976a">00045</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1StateSpaceCollection.html#aca18325f0af1026d20cc809476a7976a" title="Set the name of the collection.">ompl::StateSpaceCollection::setName</a>(<span class="keyword">const</span> std::string &name)
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 name_ = name;
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049
<a name="l00050"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a2e6f6e152dc5d7d493d5cfb335aa7a3e">00050</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1StateSpaceCollection.html#a71f39afe8eb77c0cbffe626bd7df14ef" title="Make this collection aware of the state space space, and all its subspaces.">ompl::StateSpaceCollection::collect</a>(<span class="keyword">const</span> std::vector<base::StateSpacePtr> &spaces)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="keywordflow">for</span> (std::size_t i = 0 ; i < spaces.size() ; ++i)
<a name="l00053"></a>00053 collect(spaces[i]);
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055
<a name="l00056"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a71f39afe8eb77c0cbffe626bd7df14ef">00056</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1StateSpaceCollection.html#a71f39afe8eb77c0cbffe626bd7df14ef" title="Make this collection aware of the state space space, and all its subspaces.">ompl::StateSpaceCollection::collect</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> &space)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keywordflow">if</span> (haveSpace(space))
<a name="l00059"></a>00059 <span class="keywordflow">return</span>;
<a name="l00060"></a>00060
<a name="l00061"></a>00061 msg_.debug(<span class="stringliteral">"Became aware of space '%s'"</span>, space->getName().c_str());
<a name="l00062"></a>00062
<a name="l00063"></a>00063 spaces_.push_back(space);
<a name="l00064"></a>00064 <span class="keywordflow">if</span> (space->isCompound())
<a name="l00065"></a>00065 collect(space->as<<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">base::CompoundStateSpace</a>>()-><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a68e5c2ffbeb22a2b637dec2489dd09e0" title="Get the list of components.">getSubSpaces</a>());
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a445fd2979ae727dd63c0c2f4791d1980">00068</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ompl::base::StateSpacePtr</a>& <a class="code" href="classompl_1_1StateSpaceCollection.html#a445fd2979ae727dd63c0c2f4791d1980" title="Get the state space whose name is name (if the collection is aware of this space; collect() must have...">ompl::StateSpaceCollection::getSpace</a>(<span class="keyword">const</span> std::string &name)<span class="keyword"> const</span>
<a name="l00069"></a>00069 <span class="keyword"></span>{
<a name="l00070"></a>00070 <span class="keywordflow">for</span> (std::size_t i = 0 ; i < spaces_.size() ; ++i)
<a name="l00071"></a>00071 <span class="keywordflow">if</span> (spaces_[i]->getName() == name)
<a name="l00072"></a>00072 <span class="keywordflow">return</span> spaces_[i];
<a name="l00073"></a>00073 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Collection does not include state space '"</span> + name + <span class="stringliteral">"'"</span>);
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075
<a name="l00076"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a4273ea9370efe2ba7f17f877bd1be5ee">00076</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1StateSpaceCollection.html#a4273ea9370efe2ba7f17f877bd1be5ee" title="Check if a particular space is in the collection.">ompl::StateSpaceCollection::haveSpace</a>(<span class="keyword">const</span> std::string &name)<span class="keyword"> const</span>
<a name="l00077"></a>00077 <span class="keyword"></span>{
<a name="l00078"></a>00078 <span class="keywordflow">for</span> (std::size_t i = 0 ; i < spaces_.size() ; ++i)
<a name="l00079"></a>00079 <span class="keywordflow">if</span> (spaces_[i]->getName() == name)
<a name="l00080"></a>00080 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00081"></a>00081 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a0ac4860c109dd98d5b7c771b96c10bad">00084</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1StateSpaceCollection.html#a4273ea9370efe2ba7f17f877bd1be5ee" title="Check if a particular space is in the collection.">ompl::StateSpaceCollection::haveSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> &space)<span class="keyword"> const</span>
<a name="l00085"></a>00085 <span class="keyword"></span>{
<a name="l00086"></a>00086 <span class="keywordflow">return</span> haveSpace(space->getName());
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088
<a name="l00089"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#ae90a6b3d3b65898b1f383af7c2d83344">00089</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ompl::base::StateSpacePtr</a>& <a class="code" href="classompl_1_1StateSpaceCollection.html#ae90a6b3d3b65898b1f383af7c2d83344" title="Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). The weight of each component is 1. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.">ompl::StateSpaceCollection::combine</a>(<span class="keyword">const</span> std::vector<base::StateSpacePtr> &components)
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091 std::vector<double> weights(components.size(), 1.0);
<a name="l00092"></a>00092 <span class="keywordflow">return</span> combine(components, weights);
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094
<a name="l00095"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a23e1fc36880b8bedd738e8f062514310">00095</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ompl::base::StateSpacePtr</a>& <a class="code" href="classompl_1_1StateSpaceCollection.html#ae90a6b3d3b65898b1f383af7c2d83344" title="Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). The weight of each component is 1. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.">ompl::StateSpaceCollection::combine</a>(<span class="keyword">const</span> std::vector<base::StateSpacePtr> &components, <span class="keyword">const</span> std::vector<bool> &mask)
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097 std::vector<double> weights(components.size(), 1.0);
<a name="l00098"></a>00098 <span class="keywordflow">return</span> combine(components, mask, weights);
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100
<a name="l00101"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a6207bb2243c353623ed9b48146f2342c">00101</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ompl::base::StateSpacePtr</a>& <a class="code" href="classompl_1_1StateSpaceCollection.html#ae90a6b3d3b65898b1f383af7c2d83344" title="Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). The weight of each component is 1. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.">ompl::StateSpaceCollection::combine</a>(<span class="keyword">const</span> std::vector<base::StateSpacePtr> &components,
<a name="l00102"></a>00102 <span class="keyword">const</span> std::vector<bool> &mask, <span class="keyword">const</span> std::vector<double> &weights)
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <span class="keywordflow">if</span> (components.size() != mask.size())
<a name="l00105"></a>00105 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Number of components not equal to number of mask bits"</span>);
<a name="l00106"></a>00106 <span class="keywordflow">if</span> (components.size() != weights.size())
<a name="l00107"></a>00107 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Number of components not equal to number of weights"</span>);
<a name="l00108"></a>00108
<a name="l00109"></a>00109 std::vector<base::StateSpacePtr> realComp;
<a name="l00110"></a>00110 std::vector<double> realW;
<a name="l00111"></a>00111 <span class="keywordflow">for</span> (std::size_t i = 0 ; i < components.size() ; ++i)
<a name="l00112"></a>00112 <span class="keywordflow">if</span> (mask[i])
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 realComp.push_back(components[i]);
<a name="l00115"></a>00115 realW.push_back(weights[i]);
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1StateSpaceCollection.html#a6207bb2243c353623ed9b48146f2342c" title="Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). Only components whose bit is set in mask are considered. This is a convenience function implemented on top of the other versions of collect(). The weights of the components are specified in weights. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.">combine</a>(realComp, realW);
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119
<a name="l00120"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a16284af425d634ebe05adb4c30af3954">00120</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ompl::base::StateSpacePtr</a>& <a class="code" href="classompl_1_1StateSpaceCollection.html#ae90a6b3d3b65898b1f383af7c2d83344" title="Combine the spaces in components into one compound space (ompl::base::CompoundStateSpace). The weight of each component is 1. The generated space is automatically collected. If this space has been previously collected by this collection, that space is returned instead of creating a new instance.">ompl::StateSpaceCollection::combine</a>(<span class="keyword">const</span> std::vector<base::StateSpacePtr> &components, <span class="keyword">const</span> std::vector<double> &weights)
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122 <span class="keywordflow">if</span> (components.empty())
<a name="l00123"></a>00123 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"No spaces to combine"</span>);
<a name="l00124"></a>00124 <span class="keywordflow">if</span> (components.size() != weights.size())
<a name="l00125"></a>00125 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Number of components not equal to number of weights"</span>);
<a name="l00126"></a>00126
<a name="l00127"></a>00127 collect(components);
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="keywordflow">if</span> (components.size() == 1)
<a name="l00130"></a>00130 <span class="keywordflow">return</span> getSpace(components[0]->getName());
<a name="l00131"></a>00131
<a name="l00132"></a>00132 <span class="keywordflow">for</span> (std::size_t i = 0 ; i < spaces_.size() ; ++i)
<a name="l00133"></a>00133 <span class="keywordflow">if</span> (spaces_[i]->isCompound())
<a name="l00134"></a>00134 <span class="keywordflow">if</span> (spaces_[i]->as<base::CompoundStateSpace>()->getSubSpaces() == components &&
<a name="l00135"></a>00135 spaces_[i]->as<<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">base::CompoundStateSpace</a>>()->getSubSpaceWeights() == weights)
<a name="l00136"></a>00136 <span class="keywordflow">return</span> spaces_[i];
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> space(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">base::CompoundStateSpace</a>(components, weights));
<a name="l00139"></a>00139 std::string name = components[0]->getName();
<a name="l00140"></a>00140 <span class="keywordflow">for</span> (std::size_t i = 1 ; i < components.size() ; ++i)
<a name="l00141"></a>00141 name += join_ + components[i]->getName();
<a name="l00142"></a>00142 name = prefix_ + name + suffix_;
<a name="l00143"></a>00143 <span class="keywordflow">if</span> (!name_.empty())
<a name="l00144"></a>00144 name = name_ + <span class="stringliteral">":"</span> + name;
<a name="l00145"></a>00145 space->setName(name);
<a name="l00146"></a>00146
<a name="l00147"></a>00147 msg_.debug(<span class="stringliteral">"Created new state space: '%s'"</span>, space->getName().c_str());
<a name="l00148"></a>00148
<a name="l00149"></a>00149 spaces_.push_back(space);
<a name="l00150"></a>00150 <span class="keywordflow">return</span> spaces_.back();
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152
<a name="l00153"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a413f7b5d2292a26c3eb0c646725e0259">00153</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1StateSpaceCollection.html#a413f7b5d2292a26c3eb0c646725e0259" title="By default, generated spaces are named by joining the names of the component spaces by join...">ompl::StateSpaceCollection::setAutomaticNames</a>(<span class="keyword">const</span> std::string &join, <span class="keyword">const</span> std::string &prefix, <span class="keyword">const</span> std::string &suffix)
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 join_ = join;
<a name="l00156"></a>00156 prefix_ = prefix;
<a name="l00157"></a>00157 suffix_ = suffix;
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159
<a name="l00161"></a>00161 <span class="keyword">namespace </span>ompl
<a name="l00162"></a>00162 {
<a name="l00163"></a>00163 <span class="keyword">static</span> <span class="keywordtype">void</span> generateBits(std::vector< std::vector<bool> > &options, std::vector<bool> &bits, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> start)
<a name="l00164"></a>00164 {
<a name="l00165"></a>00165 <span class="keywordflow">if</span> (start >= bits.size())
<a name="l00166"></a>00166 {
<a name="l00167"></a>00167 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < bits.size() ; ++i)
<a name="l00168"></a>00168 <span class="keywordflow">if</span> (bits[i])
<a name="l00169"></a>00169 {
<a name="l00170"></a>00170 options.push_back(bits);
<a name="l00171"></a>00171 <span class="keywordflow">break</span>;
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174 <span class="keywordflow">else</span>
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176 bits[start] = <span class="keyword">false</span>;
<a name="l00177"></a>00177 generateBits(options, bits, start + 1);
<a name="l00178"></a>00178 bits[start] = <span class="keyword">true</span>;
<a name="l00179"></a>00179 generateBits(options, bits, start + 1);
<a name="l00180"></a>00180 }
<a name="l00181"></a>00181 }
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="keyword">static</span> std::vector< std::vector<bool> > generateCombinations(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size)
<a name="l00184"></a>00184 {
<a name="l00185"></a>00185 std::vector< std::vector<bool> > options;
<a name="l00186"></a>00186 std::vector<bool> bits(size);
<a name="l00187"></a>00187 generateBits(options, bits, 0);
<a name="l00188"></a>00188 <span class="keywordflow">return</span> options;
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190 }
<a name="l00192"></a>00192
<a name="l00193"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#aad2374b82fd9fa3df88fed08aa944d69">00193</a> std::vector<ompl::base::StateSpacePtr> <a class="code" href="classompl_1_1StateSpaceCollection.html#a27b6f4f3425ea164afff61a685bbd0b7" title="Given the state spaces components, generate all combinations of compound state spaces. Weights of subspaces are always set to 1. All generated spaces are collected.">ompl::StateSpaceCollection::allCombinations</a>(<span class="keyword">const</span> std::vector<base::StateSpacePtr> &components, <span class="keyword">const</span> std::vector<double> &weights)
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195 std::vector<base::StateSpacePtr> opt;
<a name="l00196"></a>00196 <span class="keyword">const</span> std::vector< std::vector<bool> > &comb = generateCombinations(components.size());
<a name="l00197"></a>00197 <span class="keywordflow">for</span> (std::size_t i = 0 ; i < comb.size() ; ++i)
<a name="l00198"></a>00198 opt.push_back(combine(components, comb[i], weights));
<a name="l00199"></a>00199 <span class="keywordflow">return</span> opt;
<a name="l00200"></a>00200 }
<a name="l00201"></a>00201
<a name="l00202"></a><a class="code" href="classompl_1_1StateSpaceCollection.html#a27b6f4f3425ea164afff61a685bbd0b7">00202</a> std::vector<ompl::base::StateSpacePtr> <a class="code" href="classompl_1_1StateSpaceCollection.html#a27b6f4f3425ea164afff61a685bbd0b7" title="Given the state spaces components, generate all combinations of compound state spaces. Weights of subspaces are always set to 1. All generated spaces are collected.">ompl::StateSpaceCollection::allCombinations</a>(<span class="keyword">const</span> std::vector<base::StateSpacePtr> &components)
<a name="l00203"></a>00203 {
<a name="l00204"></a>00204 std::vector<double> weights(components.size(), 1.0);
<a name="l00205"></a>00205 <span class="keywordflow">return</span> allCombinations(components, weights);
<a name="l00206"></a>00206 }
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