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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1StateSpaceCollection.html">StateSpaceCollection</a> </li>
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<!-- doxytag: class="ompl::StateSpaceCollection" -->
<p>Manage a set of state spaces such that they share common subspaces.
<a href="classompl_1_1StateSpaceCollection.html#details">More...</a></p>
<p><code>#include <<a class="el" href="StateSpaceCollection_8h_source.html">StateSpaceCollection.h</a>></code></p>
<p><a href="classompl_1_1StateSpaceCollection-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5cb69b560f3987354aa86e33947188c6"></a><!-- doxytag: member="ompl::StateSpaceCollection::getName" ref="a5cb69b560f3987354aa86e33947188c6" args="(void) const " -->
const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a5cb69b560f3987354aa86e33947188c6">getName</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the name of the collection. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aca18325f0af1026d20cc809476a7976a"></a><!-- doxytag: member="ompl::StateSpaceCollection::setName" ref="aca18325f0af1026d20cc809476a7976a" args="(const std::string &name)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#aca18325f0af1026d20cc809476a7976a">setName</a> (const std::string &name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the name of the collection. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a71f39afe8eb77c0cbffe626bd7df14ef"></a><!-- doxytag: member="ompl::StateSpaceCollection::collect" ref="a71f39afe8eb77c0cbffe626bd7df14ef" args="(const base::StateSpacePtr &space)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a71f39afe8eb77c0cbffe626bd7df14ef">collect</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> &space)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Make this collection aware of the state space <em>space</em>, and all its subspaces. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2e6f6e152dc5d7d493d5cfb335aa7a3e"></a><!-- doxytag: member="ompl::StateSpaceCollection::collect" ref="a2e6f6e152dc5d7d493d5cfb335aa7a3e" args="(const std::vector< base::StateSpacePtr > &spaces)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a2e6f6e152dc5d7d493d5cfb335aa7a3e">collect</a> (const std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > &spaces)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Make this collection aware of a set of state spaces. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a445fd2979ae727dd63c0c2f4791d1980"></a><!-- doxytag: member="ompl::StateSpaceCollection::getSpace" ref="a445fd2979ae727dd63c0c2f4791d1980" args="(const std::string &name) const " -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a445fd2979ae727dd63c0c2f4791d1980">getSpace</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the state space whose name is <em>name</em> (if the collection is aware of this space; <a class="el" href="classompl_1_1StateSpaceCollection.html#a71f39afe8eb77c0cbffe626bd7df14ef" title="Make this collection aware of the state space space, and all its subspaces.">collect()</a> must have been previously called on this space) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4273ea9370efe2ba7f17f877bd1be5ee"></a><!-- doxytag: member="ompl::StateSpaceCollection::haveSpace" ref="a4273ea9370efe2ba7f17f877bd1be5ee" args="(const std::string &name) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a4273ea9370efe2ba7f17f877bd1be5ee">haveSpace</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a particular space is in the collection. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0ac4860c109dd98d5b7c771b96c10bad"></a><!-- doxytag: member="ompl::StateSpaceCollection::haveSpace" ref="a0ac4860c109dd98d5b7c771b96c10bad" args="(const base::StateSpacePtr &space) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a0ac4860c109dd98d5b7c771b96c10bad">haveSpace</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> &space) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a particular space is in the collection. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae90a6b3d3b65898b1f383af7c2d83344"></a><!-- doxytag: member="ompl::StateSpaceCollection::combine" ref="ae90a6b3d3b65898b1f383af7c2d83344" args="(const std::vector< base::StateSpacePtr > &components)" -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#ae90a6b3d3b65898b1f383af7c2d83344">combine</a> (const std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > &components)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Combine the spaces in <em>components</em> into one compound space (<a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">ompl::base::CompoundStateSpace</a>). 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. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a23e1fc36880b8bedd738e8f062514310"></a><!-- doxytag: member="ompl::StateSpaceCollection::combine" ref="a23e1fc36880b8bedd738e8f062514310" args="(const std::vector< base::StateSpacePtr > &components, const std::vector< bool > &mask)" -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a23e1fc36880b8bedd738e8f062514310">combine</a> (const std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > &components, const std::vector< bool > &mask)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Combine the spaces in <em>components</em> into one compound space (<a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">ompl::base::CompoundStateSpace</a>). Only components whose bit is set in <em>mask</em> are considered. This is a convenience function implemented on top of the other versions of <a class="el" href="classompl_1_1StateSpaceCollection.html#a71f39afe8eb77c0cbffe626bd7df14ef" title="Make this collection aware of the state space space, and all its subspaces.">collect()</a>. The weight of each considered 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. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6207bb2243c353623ed9b48146f2342c"></a><!-- doxytag: member="ompl::StateSpaceCollection::combine" ref="a6207bb2243c353623ed9b48146f2342c" args="(const std::vector< base::StateSpacePtr > &components, const std::vector< bool > &mask, const std::vector< double > &weights)" -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a6207bb2243c353623ed9b48146f2342c">combine</a> (const std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > &components, const std::vector< bool > &mask, const std::vector< double > &weights)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Combine the spaces in <em>components</em> into one compound space (<a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">ompl::base::CompoundStateSpace</a>). Only components whose bit is set in <em>mask</em> are considered. This is a convenience function implemented on top of the other versions of <a class="el" href="classompl_1_1StateSpaceCollection.html#a71f39afe8eb77c0cbffe626bd7df14ef" title="Make this collection aware of the state space space, and all its subspaces.">collect()</a>. The weights of the components are specified in <em>weights</em>. 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. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a16284af425d634ebe05adb4c30af3954"></a><!-- doxytag: member="ompl::StateSpaceCollection::combine" ref="a16284af425d634ebe05adb4c30af3954" args="(const std::vector< base::StateSpacePtr > &components, const std::vector< double > &weights)" -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a16284af425d634ebe05adb4c30af3954">combine</a> (const std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > &components, const std::vector< double > &weights)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Combine the spaces in <em>components</em> into one compound space (<a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">ompl::base::CompoundStateSpace</a>). The weights of the components are in <em>weights</em>. 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. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a27b6f4f3425ea164afff61a685bbd0b7"></a><!-- doxytag: member="ompl::StateSpaceCollection::allCombinations" ref="a27b6f4f3425ea164afff61a685bbd0b7" args="(const std::vector< base::StateSpacePtr > &components)" -->
std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a27b6f4f3425ea164afff61a685bbd0b7">allCombinations</a> (const std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > &components)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Given the state spaces <em>components</em>, generate all combinations of compound state spaces. Weights of subspaces are always set to 1. All generated spaces are collected. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aad2374b82fd9fa3df88fed08aa944d69"></a><!-- doxytag: member="ompl::StateSpaceCollection::allCombinations" ref="aad2374b82fd9fa3df88fed08aa944d69" args="(const std::vector< base::StateSpacePtr > &components, const std::vector< double > &weights)" -->
std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#aad2374b82fd9fa3df88fed08aa944d69">allCombinations</a> (const std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> > &components, const std::vector< double > &weights)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Given the state spaces <em>components</em>, generate all combinations of compound state spaces. Weights of subspaces are always specified by <em>weights</em>. All generated spaces are collected. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1StateSpaceCollection.html#a413f7b5d2292a26c3eb0c646725e0259">setAutomaticNames</a> (const std::string &join, const std::string &prefix, const std::string &suffix)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">By default, generated spaces are named by joining the names of the component spaces by <em>join</em>, adding <em>prefix</em> as prefix and <em>suffix</em> as suffix. A further prefix is set of the collection is named. <a href="#a413f7b5d2292a26c3eb0c646725e0259"></a><br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Manage a set of state spaces such that they share common subspaces. </p>
<p>This is useful when dealing with multiple compound state spaces that they are constructed from the same smaller subspaces. Sharing subspaces is important when using the functionality offered by the <a class="el" href="group__stateAndSpaceOperators.html">state space operators</a>. </p>
<p>Definition at line <a class="el" href="StateSpaceCollection_8h_source.html#l00053">53</a> of file <a class="el" href="StateSpaceCollection_8h_source.html">StateSpaceCollection.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a413f7b5d2292a26c3eb0c646725e0259"></a><!-- doxytag: member="ompl::StateSpaceCollection::setAutomaticNames" ref="a413f7b5d2292a26c3eb0c646725e0259" args="(const std::string &join, const std::string &prefix, const std::string &suffix)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">void ompl::StateSpaceCollection::setAutomaticNames </td>
<td>(</td>
<td class="paramtype">const std::string & </td>
<td class="paramname"><em>join</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::string & </td>
<td class="paramname"><em>prefix</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::string & </td>
<td class="paramname"><em>suffix</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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</div>
<div class="memdoc">
<p>By default, generated spaces are named by joining the names of the component spaces by <em>join</em>, adding <em>prefix</em> as prefix and <em>suffix</em> as suffix. A further prefix is set of the collection is named. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Example generated name: [collection name]:[<em>prefix</em>][name of component 1][<em>join</em>][name of component 2][<em>join</em>][name of component 3][<em>suffix</em>] </dd></dl>
<p>Definition at line <a class="el" href="StateSpaceCollection_8cpp_source.html#l00153">153</a> of file <a class="el" href="StateSpaceCollection_8cpp_source.html">StateSpaceCollection.cpp</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/tools/spaces/<a class="el" href="StateSpaceCollection_8h_source.html">StateSpaceCollection.h</a></li>
<li>src/ompl/tools/spaces/src/<a class="el" href="StateSpaceCollection_8cpp_source.html">StateSpaceCollection.cpp</a></li>
</ul>
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<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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