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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="namespaceompl_1_1base.html">base</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a> </li>
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<a href="#pub-types">Public Types</a> |
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<div class="title">ompl::base::StateSpace Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::StateSpace" -->
<p>Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
<a href="classompl_1_1base_1_1StateSpace.html#details">More...</a></p>
<p><code>#include <<a class="el" href="StateSpace_8h_source.html">StateSpace.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::StateSpace:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1StateSpace__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1StateSpace_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1StateSpace_inherit__map" id="ompl_1_1base_1_1StateSpace_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces." alt="" coords="217,59,441,88"/><area shape="rect" id="node11" href="classompl_1_1base_1_1DiscreteStateSpace.html" title="A space representing discrete states; i.e. there are a small number of discrete states the system can..." alt="" coords="224,112,435,141"/><area shape="rect" id="node13" href="classompl_1_1base_1_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm." alt="" coords="216,165,443,195"/><area shape="rect" id="node15" href="classompl_1_1base_1_1SO2StateSpace.html" title="A state space representing SO(2). The distance function and interpolation take into account angle wra..." alt="" coords="236,219,423,248"/><area shape="rect" id="node17" href="classompl_1_1base_1_1SO3StateSpace.html" title="A state space representing SO(3). The internal representation is done with quaternions. The distance between states is the angle between quaternions and interpolation is done with slerp." alt="" coords="236,272,423,301"/><area shape="rect" id="node19" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op..." alt="" coords="235,325,424,355"/><area shape="rect" id="node5" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)" alt="" coords="499,5,685,35"/><area shape="rect" id="node7" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)" alt="" coords="499,59,685,88"/><area shape="rect" id="node9" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states." alt="" coords="491,112,693,141"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1StateSpace-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa995357fedb73879bc7f0bb946db76d1"></a><!-- doxytag: member="ompl::base::StateSpace::StateType" ref="aa995357fedb73879bc7f0bb946db76d1" args="" -->
typedef <a class="el" href="classompl_1_1base_1_1State.html">State</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1">StateType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Define the type of state allocated by this space. <br/></td></tr>
<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="a59b001dad7dc63d37f63c78c04f1232d"></a><!-- doxytag: member="ompl::base::StateSpace::StateSpace" ref="a59b001dad7dc63d37f63c78c04f1232d" args="(void)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a59b001dad7dc63d37f63c78c04f1232d">StateSpace</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. Assigns a <b>unique</b> name to the space. <br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a">as</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast this instance to a desired type. <a href="#af1d70611d231dd7d463cea6220d3b01a"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a22a086b6c597e028d9ba48d2b530a3f2">as</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast this instance to a desired type. <a href="#a22a086b6c597e028d9ba48d2b530a3f2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a62881b1915544da2e2843008da5f1109"></a><!-- doxytag: member="ompl::base::StateSpace::setup" ref="a62881b1915544da2e2843008da5f1109" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109">setup</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform final setup steps. This function is automatically called by the <a class="el" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a>. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times. <br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Generic functionality for state spaces</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af2876ac053f907e94f5b6d0df9719f1b"></a><!-- doxytag: member="ompl::base::StateSpace::isCompound" ref="af2876ac053f907e94f5b6d0df9719f1b" args="(void) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#af2876ac053f907e94f5b6d0df9719f1b">isCompound</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if the state space is compound. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a0ba7529960eb53ab38ce532236277baf">isDiscrete</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if the set of states is discrete. <a href="#a0ba7529960eb53ab38ce532236277baf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a28d46d3774a6632735df7889f91fc257"></a><!-- doxytag: member="ompl::base::StateSpace::isHybrid" ref="a28d46d3774a6632735df7889f91fc257" args="(void) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a28d46d3774a6632735df7889f91fc257">isHybrid</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if this is a hybrid state space (i.e., both discrete and continuous components exist) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a90015676df178b4406a8ab8399f0624c"></a><!-- doxytag: member="ompl::base::StateSpace::getName" ref="a90015676df178b4406a8ab8399f0624c" args="(void) const " -->
const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a90015676df178b4406a8ab8399f0624c">getName</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the name of the state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad12cc022ef531dcb563f6d3d13b847ad"></a><!-- doxytag: member="ompl::base::StateSpace::setName" ref="ad12cc022ef531dcb563f6d3d13b847ad" args="(const std::string &name)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#ad12cc022ef531dcb563f6d3d13b847ad">setName</a> (const std::string &name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the name of the state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0f90ce2fae9c951a1a322d7da4283a55"></a><!-- doxytag: member="ompl::base::StateSpace::getType" ref="a0f90ce2fae9c951a1a322d7da4283a55" args="(void) const " -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a0f90ce2fae9c951a1a322d7da4283a55">getType</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the type of the state space. The type can be used to verify whether two space instances are of the same type (e.g., SO2) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af294ec92dcc0e35793570d039d61d019"></a><!-- doxytag: member="ompl::base::StateSpace::includes" ref="af294ec92dcc0e35793570d039d61d019" args="(const StateSpacePtr &other) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#af294ec92dcc0e35793570d039d61d019">includes</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if <em>other</em> is a space included (perhaps equal, perhaps a subspace) in this one. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a41a2cdf29ab85faa2b76cca36c23229d"></a><!-- doxytag: member="ompl::base::StateSpace::covers" ref="a41a2cdf29ab85faa2b76cca36c23229d" args="(const StateSpacePtr &other) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a41a2cdf29ab85faa2b76cca36c23229d">covers</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if <em>other</em> is a space that is either included (perhaps equal, perhaps a subspace) in this one, or all of its subspaces are included in this one. <br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Functionality specific to state spaces (to be implemented by derived state spaces)</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4d929613e0cf9dcced2fbe2e88cb72ab"></a><!-- doxytag: member="ompl::base::StateSpace::getDimension" ref="a4d929613e0cf9dcced2fbe2e88cb72ab" args="(void) const =0" -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a4d929613e0cf9dcced2fbe2e88cb72ab">getDimension</a> (void) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the dimension of the space (not the dimension of the surrounding ambient space) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a46ed7d102b6a65a2e2a03e70c7464a37">getMaximumExtent</a> (void) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum value a call to <a class="el" href="classompl_1_1base_1_1StateSpace.html#acb781becdcdf8770d61c218632c71bd5" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">distance()</a> can return (or an upper bound). For unbounded state spaces, this function can return infinity. <a href="#a46ed7d102b6a65a2e2a03e70c7464a37"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7a52d4000174091df038c603078add78"></a><!-- doxytag: member="ompl::base::StateSpace::enforceBounds" ref="a7a52d4000174091df038c603078add78" args="(State *state) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a7a52d4000174091df038c603078add78">enforceBounds</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a07deb46127836f5795a8c0ceca1a1209"></a><!-- doxytag: member="ompl::base::StateSpace::satisfiesBounds" ref="a07deb46127836f5795a8c0ceca1a1209" args="(const State *state) const =0" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a07deb46127836f5795a8c0ceca1a1209">satisfiesBounds</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a state is inside the bounding box. For unbounded spaces this function can always return true. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abff3478c3fc4da03c94d6f929f6ca7f9"></a><!-- doxytag: member="ompl::base::StateSpace::copyState" ref="abff3478c3fc4da03c94d6f929f6ca7f9" args="(State *destination, const State *source) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#abff3478c3fc4da03c94d6f929f6ca7f9">copyState</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *destination, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *source) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy a state to another. The memory of source and destination should NOT overlap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acb781becdcdf8770d61c218632c71bd5"></a><!-- doxytag: member="ompl::base::StateSpace::distance" ref="acb781becdcdf8770d61c218632c71bd5" args="(const State *state1, const State *state2) const =0" -->
virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#acb781becdcdf8770d61c218632c71bd5">distance</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state2) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes distance to between two states. This function satisfies the properties of a metric and its return value will always be between 0 and <a class="el" href="classompl_1_1base_1_1StateSpace.html#a46ed7d102b6a65a2e2a03e70c7464a37" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">getMaximumExtent()</a> <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a8584afb9165d2aa7408fec81c18659f4">getValueAddressAtIndex</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Many states contain a number of double values. This function provides a means to get the memory address of a double value from state <em>state</em> located at position <em>index</em>. The first double value is returned for <em>index</em> = 0. If <em>index</em> is too large (does not point to any double values in the state), the return value is NULL. <a href="#a8584afb9165d2aa7408fec81c18659f4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af5a789c55cf60407f1f015fc11ec7f57"></a><!-- doxytag: member="ompl::base::StateSpace::getLongestValidSegmentFraction" ref="af5a789c55cf60407f1f015fc11ec7f57" args="(void) const " -->
virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#af5a789c55cf60407f1f015fc11ec7f57">getLongestValidSegmentFraction</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function returns this length, for this state space, as a fraction of the space's maximum extent. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#ad8e6450ad306d272df39751aa7e690b8">setLongestValidSegmentFraction</a> (double segmentFraction)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the space's maximum extent. <a href="#ad8e6450ad306d272df39751aa7e690b8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a17443b992677f5043d3fc38e9288b9a7"></a><!-- doxytag: member="ompl::base::StateSpace::validSegmentCount" ref="a17443b992677f5043d3fc38e9288b9a7" args="(const State *state1, const State *state2) const " -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a17443b992677f5043d3fc38e9288b9a7">validSegmentCount</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Count how many segments of the "longest valid length" fit on the motion from <em>state1</em> to <em>state2</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9babd71497fc6a6f82fe97f699531ceb"></a><!-- doxytag: member="ompl::base::StateSpace::setValidSegmentCountFactor" ref="a9babd71497fc6a6f82fe97f699531ceb" args="(unsigned int factor)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a9babd71497fc6a6f82fe97f699531ceb">setValidSegmentCountFactor</a> (unsigned int factor)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set <em>factor</em> to be the value to multiply the return value of <a class="el" href="classompl_1_1base_1_1StateSpace.html#a17443b992677f5043d3fc38e9288b9a7" title="Count how many segments of the "longest valid length" fit on the motion from state1 to state2...">validSegmentCount()</a>. By default, this value is 1. The higher the value, the smaller the size of the segments considered valid. The effect of this function is immediate (<a class="el" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109" title="Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.">setup()</a> does not need to be called). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad310457600b4bad5b43cc28d3a835f41"></a><!-- doxytag: member="ompl::base::StateSpace::getValidSegmentCountFactor" ref="ad310457600b4bad5b43cc28d3a835f41" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#ad310457600b4bad5b43cc28d3a835f41">getValidSegmentCountFactor</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the value used to multiply the return value of <a class="el" href="classompl_1_1base_1_1StateSpace.html#a17443b992677f5043d3fc38e9288b9a7" title="Count how many segments of the "longest valid length" fit on the motion from state1 to state2...">validSegmentCount()</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6babf3addb5ed9608800b7460a20da39"></a><!-- doxytag: member="ompl::base::StateSpace::equalStates" ref="a6babf3addb5ed9608800b7460a20da39" args="(const State *state1, const State *state2) const =0" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a6babf3addb5ed9608800b7460a20da39">equalStates</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state2) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks whether two states are equal. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4220070a3365dd973e09c251f3381107"></a><!-- doxytag: member="ompl::base::StateSpace::interpolate" ref="a4220070a3365dd973e09c251f3381107" args="(const State *from, const State *to, const double t, State *state) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a4220070a3365dd973e09c251f3381107">interpolate</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *from, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *to, const double t, <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the state that lies at time <em>t</em> in [0, 1] on the segment that connects <em>from</em> state to <em>to</em> state. The memory location of <em>state</em> is not required to be different from the memory of either <em>from</em> or <em>to</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a345d227779a17370264430aa2958c055"></a><!-- doxytag: member="ompl::base::StateSpace::allocStateSampler" ref="a345d227779a17370264430aa2958c055" args="(void) const =0" -->
virtual <a class="el" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a345d227779a17370264430aa2958c055">allocStateSampler</a> (void) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate an instance of a uniform state sampler for this space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a65ed00dd1909446bb79542c3670d6efd"></a><!-- doxytag: member="ompl::base::StateSpace::allocState" ref="a65ed00dd1909446bb79542c3670d6efd" args="(void) const =0" -->
virtual <a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a65ed00dd1909446bb79542c3670d6efd">allocState</a> (void) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate a state that can store a point in the described space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeb75db7a7ef3d05f13632b7ccc67e6b9"></a><!-- doxytag: member="ompl::base::StateSpace::freeState" ref="aeb75db7a7ef3d05f13632b7ccc67e6b9" args="(State *state) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#aeb75db7a7ef3d05f13632b7ccc67e6b9">freeState</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the memory of the allocated state. <br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Management of projections from this state space to Euclidean spaces</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a309f2cdc5412ff16d31b87fec92b3595"></a><!-- doxytag: member="ompl::base::StateSpace::registerProjection" ref="a309f2cdc5412ff16d31b87fec92b3595" args="(const std::string &name, const ProjectionEvaluatorPtr &projection)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a309f2cdc5412ff16d31b87fec92b3595">registerProjection</a> (const std::string &name, const <a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">ProjectionEvaluatorPtr</a> &projection)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Register a projection for this state space under a specified name. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac79f6342fb2d85f1c2c87bfff812fbbf"></a><!-- doxytag: member="ompl::base::StateSpace::registerDefaultProjection" ref="ac79f6342fb2d85f1c2c87bfff812fbbf" args="(const ProjectionEvaluatorPtr &projection)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#ac79f6342fb2d85f1c2c87bfff812fbbf">registerDefaultProjection</a> (const <a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">ProjectionEvaluatorPtr</a> &projection)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Register the default projection for this state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a18363a441aa3ec273b5a32bb9f9f21f3"></a><!-- doxytag: member="ompl::base::StateSpace::registerProjections" ref="a18363a441aa3ec273b5a32bb9f9f21f3" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a18363a441aa3ec273b5a32bb9f9f21f3">registerProjections</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by <a class="el" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109" title="Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.">setup()</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05e75a507f6e8e538d1542bc9e31b256"></a><!-- doxytag: member="ompl::base::StateSpace::getProjection" ref="a05e75a507f6e8e538d1542bc9e31b256" args="(const std::string &name) const " -->
<a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">ProjectionEvaluatorPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a05e75a507f6e8e538d1542bc9e31b256">getProjection</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the projection registered under a specific name. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adae69d06a2060e4e555e9e42453ca97d"></a><!-- doxytag: member="ompl::base::StateSpace::getDefaultProjection" ref="adae69d06a2060e4e555e9e42453ca97d" args="(void) const " -->
<a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">ProjectionEvaluatorPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#adae69d06a2060e4e555e9e42453ca97d">getDefaultProjection</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the default projection. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aade8b8097e7c5defa159797a80c2ebf2"></a><!-- doxytag: member="ompl::base::StateSpace::hasProjection" ref="aade8b8097e7c5defa159797a80c2ebf2" args="(const std::string &name) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#aade8b8097e7c5defa159797a80c2ebf2">hasProjection</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a projection with a specified name is available. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72ae78109f391727694c9f582a746e1b"></a><!-- doxytag: member="ompl::base::StateSpace::hasDefaultProjection" ref="a72ae78109f391727694c9f582a746e1b" args="(void) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a72ae78109f391727694c9f582a746e1b">hasDefaultProjection</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a default projection is available. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5b424bc0e9b65552442104372639a64"></a><!-- doxytag: member="ompl::base::StateSpace::getRegisteredProjections" ref="ad5b424bc0e9b65552442104372639a64" args="(void) const " -->
const std::map< std::string, <br class="typebreak"/>
<a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">ProjectionEvaluatorPtr</a> > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#ad5b424bc0e9b65552442104372639a64">getRegisteredProjections</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get all the registered projections. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a68556edd816136a66a0d81544baef08c"></a><!-- doxytag: member="ompl::base::StateSpace::type_" ref="a68556edd816136a66a0d81544baef08c" args="" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a68556edd816136a66a0d81544baef08c">type_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A type assigned for this state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af139d63d7b1067a70cb6e744e85fef96"></a><!-- doxytag: member="ompl::base::StateSpace::maxExtent_" ref="af139d63d7b1067a70cb6e744e85fef96" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#af139d63d7b1067a70cb6e744e85fef96">maxExtent_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The extent of this space at the time <a class="el" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109" title="Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.">setup()</a> was called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeaba86765fbfc6686312e50934edfd70"></a><!-- doxytag: member="ompl::base::StateSpace::longestValidSegmentFraction_" ref="aeaba86765fbfc6686312e50934edfd70" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#aeaba86765fbfc6686312e50934edfd70">longestValidSegmentFraction_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The fraction of the longest valid segment. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8967afde4dc99333aef63eb85554bf81"></a><!-- doxytag: member="ompl::base::StateSpace::longestValidSegment_" ref="a8967afde4dc99333aef63eb85554bf81" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a8967afde4dc99333aef63eb85554bf81">longestValidSegment_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The longest valid segment at the time <a class="el" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109" title="Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.">setup()</a> was called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa3fbdc24d4e07283890eb68f49bc1467"></a><!-- doxytag: member="ompl::base::StateSpace::longestValidSegmentCountFactor_" ref="aa3fbdc24d4e07283890eb68f49bc1467" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#aa3fbdc24d4e07283890eb68f49bc1467">longestValidSegmentCountFactor_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The factor to multiply the value returned by <a class="el" href="classompl_1_1base_1_1StateSpace.html#a17443b992677f5043d3fc38e9288b9a7" title="Count how many segments of the "longest valid length" fit on the motion from state1 to state2...">validSegmentCount()</a> <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaad59b5cd0da08195dd066485e6fa946"></a><!-- doxytag: member="ompl::base::StateSpace::msg_" ref="aaad59b5cd0da08195dd066485e6fa946" args="" -->
<a class="el" href="classompl_1_1msg_1_1Interface.html">msg::Interface</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#aaad59b5cd0da08195dd066485e6fa946">msg_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Interface used for console output. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab32be9ff082fcb2926cbc8166613e09a"></a><!-- doxytag: member="ompl::base::StateSpace::projections_" ref="ab32be9ff082fcb2926cbc8166613e09a" args="" -->
std::map< std::string, <br class="typebreak"/>
<a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">ProjectionEvaluatorPtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#ab32be9ff082fcb2926cbc8166613e09a">projections_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">List of available projections. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-attribs"></a>
Static Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a45e65cf86a2c5cb1e4394dd8aafb4d3b"></a><!-- doxytag: member="ompl::base::StateSpace::DEFAULT_PROJECTION_NAME" ref="a45e65cf86a2c5cb1e4394dd8aafb4d3b" args="" -->
static const std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a45e65cf86a2c5cb1e4394dd8aafb4d3b">DEFAULT_PROJECTION_NAME</a> = ""</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The name used for the default projection. <br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Debugging tools</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5f92fa826285aaa7adff4c1fd07a4023"></a><!-- doxytag: member="ompl::base::StateSpace::printState" ref="a5f92fa826285aaa7adff4c1fd07a4023" args="(const State *state, std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a5f92fa826285aaa7adff4c1fd07a4023">printState</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, std::ostream &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print a state to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0d78e50cceae2e0a432fea171a431324"></a><!-- doxytag: member="ompl::base::StateSpace::printSettings" ref="a0d78e50cceae2e0a432fea171a431324" args="(std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a0d78e50cceae2e0a432fea171a431324">printSettings</a> (std::ostream &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print the settings for this state space to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a988d0d31d8cf99ca55e83d83be778918"></a><!-- doxytag: member="ompl::base::StateSpace::printProjections" ref="a988d0d31d8cf99ca55e83d83be778918" args="(std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a988d0d31d8cf99ca55e83d83be778918">printProjections</a> (std::ostream &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print the list of registered projections. This function is also called by <a class="el" href="classompl_1_1base_1_1StateSpace.html#a0d78e50cceae2e0a432fea171a431324" title="Print the settings for this state space to a stream.">printSettings()</a> <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a8e7d1bb109cf5fccbd537722ca5e6761">sanityChecks</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform sanity checks for this state space. Throws an exception if failures are found. <a href="#a8e7d1bb109cf5fccbd537722ca5e6761"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a925ed4f0e97f137b4c2128afe9f36b2f"></a><!-- doxytag: member="ompl::base::StateSpace::Diagram" ref="a925ed4f0e97f137b4c2128afe9f36b2f" args="(std::ostream &out)" -->
static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html#a925ed4f0e97f137b4c2128afe9f36b2f">Diagram</a> (std::ostream &out)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print a Graphviz digraph that represents the containment diagram for all the instantiated state spaces. <br/></td></tr>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined. </p>
<p>See <a class="el" href="implementingStateSpaces.html">Implementing State Spaces</a>. </p>
<p>Definition at line <a class="el" href="StateSpace_8h_source.html#l00070">70</a> of file <a class="el" href="StateSpace_8h_source.html">StateSpace.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a22a086b6c597e028d9ba48d2b530a3f2"></a><!-- doxytag: member="ompl::base::StateSpace::as" ref="a22a086b6c597e028d9ba48d2b530a3f2" args="(void) const " -->
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template<class T > </div>
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<td class="memname">const T* ompl::base::StateSpace::as </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
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<p>Cast this instance to a desired type. </p>
<p><p>Make sure the type we are casting to is indeed a state space </p>
</p>
<p>Definition at line <a class="el" href="StateSpace_8h_source.html#l00094">94</a> of file <a class="el" href="StateSpace_8h_source.html">StateSpace.h</a>.</p>
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<td class="memname">T* ompl::base::StateSpace::as </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Cast this instance to a desired type. </p>
<p><p>Make sure the type we are casting to is indeed a state space </p>
</p>
<p>Definition at line <a class="el" href="StateSpace_8h_source.html#l00084">84</a> of file <a class="el" href="StateSpace_8h_source.html">StateSpace.h</a>.</p>
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<a class="anchor" id="a46ed7d102b6a65a2e2a03e70c7464a37"></a><!-- doxytag: member="ompl::base::StateSpace::getMaximumExtent" ref="a46ed7d102b6a65a2e2a03e70c7464a37" args="(void) const =0" -->
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<td class="memname">virtual double ompl::base::StateSpace::getMaximumExtent </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td> const<code> [pure virtual]</code></td>
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<p>Get the maximum value a call to <a class="el" href="classompl_1_1base_1_1StateSpace.html#acb781becdcdf8770d61c218632c71bd5" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">distance()</a> can return (or an upper bound). For unbounded state spaces, this function can return infinity. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful. </dd></dl>
<p>Implemented in <a class="el" href="classompl_1_1base_1_1DiscreteStateSpace.html#a4e162fbfbcb0b9a46a3a3c3e802c7c49">ompl::base::DiscreteStateSpace</a>, <a class="el" href="classompl_1_1base_1_1RealVectorStateSpace.html#af5a3758aabe1a915a64c99d7c93d692e">ompl::base::RealVectorStateSpace</a>, <a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a73bd1d72deeb2f82bc21e83916ab4950">ompl::base::SO2StateSpace</a>, <a class="el" href="classompl_1_1base_1_1SO3StateSpace.html#ab2195bd3a08aeee6e3fad7e425eb9f26">ompl::base::SO3StateSpace</a>, <a class="el" href="classompl_1_1base_1_1TimeStateSpace.html#a8ec7091055790c74a37d0657fcf50a9b">ompl::base::TimeStateSpace</a>, and <a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a70ff28c17797dc5aa6e56f25034410c7">ompl::base::CompoundStateSpace</a>.</p>
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<a class="anchor" id="a8584afb9165d2aa7408fec81c18659f4"></a><!-- doxytag: member="ompl::base::StateSpace::getValueAddressAtIndex" ref="a8584afb9165d2aa7408fec81c18659f4" args="(State *state, const unsigned int index) const " -->
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<td class="memname">double * ompl::base::StateSpace::getValueAddressAtIndex </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>state</em>, </td>
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<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>index</em> </td>
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<td></td>
<td>)</td>
<td></td><td> const<code> [virtual]</code></td>
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<p>Many states contain a number of double values. This function provides a means to get the memory address of a double value from state <em>state</em> located at position <em>index</em>. The first double value is returned for <em>index</em> = 0. If <em>index</em> is too large (does not point to any double values in the state), the return value is NULL. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This function does <b>not</b> map a state to an array of doubles. There may be components of a state that do not correspond to double values and they are 'invisible' to this function. Furthermore, this function is slow and is not intended for use in the implementation of planners. </dd></dl>
<p>Reimplemented in <a class="el" href="classompl_1_1base_1_1RealVectorStateSpace.html#aa263419b2d378049b3315286413d5a2f">ompl::base::RealVectorStateSpace</a>, <a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#ae7e2c0c9d3fbe8cb0cbfbc61952d815e">ompl::base::SO2StateSpace</a>, <a class="el" href="classompl_1_1base_1_1SO3StateSpace.html#a01bdc2556f215089743cd8d0114dc0fa">ompl::base::SO3StateSpace</a>, <a class="el" href="classompl_1_1base_1_1TimeStateSpace.html#af90393504dc7f6a8f7eb335aadc6d590">ompl::base::TimeStateSpace</a>, and <a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a88d40189fcde811ba620ebc96af33901">ompl::base::CompoundStateSpace</a>.</p>
<p>Definition at line <a class="el" href="StateSpace_8cpp_source.html#l00129">129</a> of file <a class="el" href="StateSpace_8cpp_source.html">StateSpace.cpp</a>.</p>
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<a class="anchor" id="a0ba7529960eb53ab38ce532236277baf"></a><!-- doxytag: member="ompl::base::StateSpace::isDiscrete" ref="a0ba7529960eb53ab38ce532236277baf" args="(void) const " -->
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<td>(</td>
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<td> const<code> [virtual]</code></td>
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<p>Check if the set of states is discrete. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>In fact, because of limited numerical precision, the representation of all spaces is discrete; this function returns true if the corresponding mathematical object is a discrete one. </dd></dl>
<p>Reimplemented in <a class="el" href="classompl_1_1base_1_1DiscreteStateSpace.html#afd90bfa97ae9cc027272b52cd7966fec">ompl::base::DiscreteStateSpace</a>.</p>
<p>Definition at line <a class="el" href="StateSpace_8cpp_source.html#l00371">371</a> of file <a class="el" href="StateSpace_8cpp_source.html">StateSpace.cpp</a>.</p>
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<a class="anchor" id="a8e7d1bb109cf5fccbd537722ca5e6761"></a><!-- doxytag: member="ompl::base::StateSpace::sanityChecks" ref="a8e7d1bb109cf5fccbd537722ca5e6761" args="(void) const " -->
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<td class="memname">void ompl::base::StateSpace::sanityChecks </td>
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<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Perform sanity checks for this state space. Throws an exception if failures are found. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This checks if distances are always positive, whether the integration works as expected. </dd></dl>
<p>Definition at line <a class="el" href="StateSpace_8cpp_source.html#l00242">242</a> of file <a class="el" href="StateSpace_8cpp_source.html">StateSpace.cpp</a>.</p>
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<a class="anchor" id="ad8e6450ad306d272df39751aa7e690b8"></a><!-- doxytag: member="ompl::base::StateSpace::setLongestValidSegmentFraction" ref="ad8e6450ad306d272df39751aa7e690b8" args="(double segmentFraction)" -->
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<td class="memname">void ompl::base::StateSpace::setLongestValidSegmentFraction </td>
<td>(</td>
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<td class="paramname"><em>segmentFraction</em></td><td>)</td>
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<p>When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the space's maximum extent. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This function's effect is not considered until after <a class="el" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109" title="Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.">setup()</a> has been called. For immediate effects (i.e., during planning) use <a class="el" href="classompl_1_1base_1_1StateSpace.html#a9babd71497fc6a6f82fe97f699531ceb" title="Set factor to be the value to multiply the return value of validSegmentCount(). By default...">setValidSegmentCountFactor()</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#ac07e99d9d6749436e4e3549023ae96fe">ompl::base::CompoundStateSpace</a>.</p>
<p>Definition at line <a class="el" href="StateSpace_8cpp_source.html#l00388">388</a> of file <a class="el" href="StateSpace_8cpp_source.html">StateSpace.cpp</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="StateSpace_8h_source.html">StateSpace.h</a></li>
<li>src/ompl/base/src/<a class="el" href="StateSpace_8cpp_source.html">StateSpace.cpp</a></li>
</ul>
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