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<p>This namespace contains sampling based planning routines shared by both planning under geometric constraints (geometric) and planning under differential constraints (dynamic)
<a href="#details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1DiscreteMotionValidator.html">DiscreteMotionValidator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution. <a href="classompl_1_1base_1_1DiscreteMotionValidator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Goal.html">Goal</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Abstract definition of goals. Will contain solutions, if found. <a href="classompl_1_1base_1_1Goal.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalLazySamples.html">GoalLazySamples</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner. <a href="classompl_1_1base_1_1GoalLazySamples.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalRegion.html">GoalRegion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a goal region. <a href="classompl_1_1base_1_1GoalRegion.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalSampleableRegion.html">GoalSampleableRegion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Abstract definition of a goal region that can be sampled. <a href="classompl_1_1base_1_1GoalSampleableRegion.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalState.html">GoalState</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a goal state. <a href="classompl_1_1base_1_1GoalState.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalStates.html">GoalStates</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a set of goal states. <a href="classompl_1_1base_1_1GoalStates.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1MotionValidator.html">MotionValidator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Abstract definition for a class checking the validity of motions -- path segments between states. This is often called a local planner. The implementation of this class must be thread safe. <a href="classompl_1_1base_1_1MotionValidator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Path.html">Path</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Abstract definition of a path. <a href="classompl_1_1base_1_1Path.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html">PlannerInputStates</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Helper class to extract valid start & goal states. Usually used internally by planners. <a href="classompl_1_1base_1_1PlannerInputStates.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1base_1_1PlannerSpecs.html">PlannerSpecs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Properties that planners may have. <a href="structompl_1_1base_1_1PlannerSpecs.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1Planner.html">Planner</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Base class for a planner. <a href="classompl_1_1base_1_1Planner.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerData.html">PlannerData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Datatype holding data a planner can expose for debug purposes. <a href="classompl_1_1base_1_1PlannerData.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html">PlannerTerminationCondition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whether they should terminate before a solution is found or not. operator() will return true if either the implemented condition is met (the call to <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">eval()</a> returns true) or if the user called terminate(true). <a href="classompl_1_1base_1_1PlannerTerminationCondition.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html">PlannerThreadedTerminationCondition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Termination condition with lazy evaluation. This is just as a regular termination condition, except the condition is actually evaluated by <a class="el" href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#a39d7d436d7b07dd2061349f0fbac24f3" title="Evaluate the termination condition. By default this is a call to fn_() from the base class...">computeEval()</a> and the return value is stored in evalValue_. Every time <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html#afb1d7afe583bf5d9380540251e17d723" title="The implementation of some termination condition. By default, this just calls fn_() ...">eval()</a> is called, evalValue_ is returned instead of actually evaluating the termination condition. Furthermore, the termination condition is evaluated every period_ seconds in a separate thread. The thread automatically starts when the condition is constructed and it terminates when the condition becomes true. <a href="classompl_1_1base_1_1PlannerThreadedTerminationCondition.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerNonTerminatingCondition.html">PlannerNonTerminatingCondition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Simple termination condition that always returns false. The termination condition will never be met. <a href="classompl_1_1base_1_1PlannerNonTerminatingCondition.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerAlwaysTerminatingCondition.html">PlannerAlwaysTerminatingCondition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Simple termination condition that always returns true. The termination condition will always be met. <a href="classompl_1_1base_1_1PlannerAlwaysTerminatingCondition.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerOrTerminationCondition.html">PlannerOrTerminationCondition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Combine two termination conditions into one. If either termination condition returns true, this one will return true as well. <a href="classompl_1_1base_1_1PlannerOrTerminationCondition.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerAndTerminationCondition.html">PlannerAndTerminationCondition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Combine two termination conditions into one. Both termination conditions need to return true for this one to return true. <a href="classompl_1_1base_1_1PlannerAndTerminationCondition.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProblemDefinition.html">ProblemDefinition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a problem to be solved. This includes the start state(s) for the system and a goal specification. <a href="classompl_1_1base_1_1ProblemDefinition.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html">ProjectionMatrix</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated. <a href="classompl_1_1base_1_1ProjectionMatrix.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html">ProjectionEvaluator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Abstract definition for a class computing projections to R<sup>n</sup>. Implicit integer grids are imposed on this projection space by setting cell sizes. Before use, the user must supply cell sizes for the integer grid (<a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a159e26be9f83a75a001ad2d3ba477f71" title="Define the size (in each dimension) of a grid cell. The number of sizes set here must be the same as ...">setCellSizes()</a>). The implementation of this class is thread safe. <a href="classompl_1_1base_1_1ProjectionEvaluator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GaussianValidStateSampler.html">GaussianValidStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate valid samples using the Gaussian sampling strategy. <a href="classompl_1_1base_1_1GaussianValidStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html">MaximizeClearanceValidStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate valid samples randomly, but with a bias towards higher clearance. <a href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html">ObstacleBasedValidStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate valid samples using the Bridge Test. <a href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1UniformValidStateSampler.html">UniformValidStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A state sampler that only samples valid states, uniformly. <a href="classompl_1_1base_1_1UniformValidStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a scoped state. <a href="classompl_1_1base_1_1ScopedState.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The base class for space information. This contains all the information about the space planning is done in. <a class="el" href="classompl_1_1base_1_1SpaceInformation.html#ac39aa0c4b92e3ca5acfa75eeb56b080f" title="Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...">setup()</a> needs to be called as well, before use. <a href="classompl_1_1base_1_1SpaceInformation.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1DiscreteStateSampler.html">DiscreteStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> space sampler for discrete states. <a href="classompl_1_1base_1_1DiscreteStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1DiscreteStateSpace.html">DiscreteStateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A space representing discrete states; i.e. there are a small number of discrete states the system can be in. States are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive. States do not wrap around; i.e. the distance between state lowerBound and state upperBound is upperBound-lowerBound, NOT 1. <a href="classompl_1_1base_1_1DiscreteStateSpace.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1RealVectorBounds.html">RealVectorBounds</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The lower and upper bounds for an R<sup>n</sup> space. <a href="classompl_1_1base_1_1RealVectorBounds.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html">RealVectorLinearProjectionEvaluator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the R<sup>n</sup> vector state to produce an R<sup>k</sup> projection. The multiplication matrix needs to be supplied as input. <a href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html">RealVectorRandomLinearProjectionEvaluator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition for a class computing a random linear projections. <a href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html">RealVectorOrthogonalProjectionEvaluator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition for a class computing orthogonal projections. <a href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html">RealVectorIdentityProjectionEvaluator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Define the identity projection. <a href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1RealVectorStateSampler.html">RealVectorStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> sampler for the R<sup>n</sup> state space. <a href="classompl_1_1base_1_1RealVectorStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1RealVectorStateSpace.html">RealVectorStateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A state space representing R<sup>n</sup>. The distance function is the L2 norm. <a href="classompl_1_1base_1_1RealVectorStateSpace.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SE2StateSpace.html">SE2StateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A state space representing SE(2) <a href="classompl_1_1base_1_1SE2StateSpace.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SE3StateSpace.html">SE3StateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A state space representing SE(3) <a href="classompl_1_1base_1_1SE3StateSpace.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSampler.html">SO2StateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> space sampler for SO(2) <a href="classompl_1_1base_1_1SO2StateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html">SO2StateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A state space representing SO(2). The distance function and interpolation take into account angle wrapping. <a href="classompl_1_1base_1_1SO2StateSpace.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO3StateSampler.html">SO3StateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> space sampler for SO(3), using quaternion representation. <a href="classompl_1_1base_1_1SO3StateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO3StateSpace.html">SO3StateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="classompl_1_1base_1_1SO3StateSpace.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1TimeStateSampler.html">TimeStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> space sampler for time. <a href="classompl_1_1base_1_1TimeStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1TimeStateSpace.html">TimeStateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A state space representing time. The time can be unbounded, in which case <a class="el" href="classompl_1_1base_1_1TimeStateSpace.html#ae7b9f46ae062b26b9addb4504be6d7f9" title="Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...">enforceBounds()</a> is a no-op, <a class="el" href="classompl_1_1base_1_1TimeStateSpace.html#a91ff776b4e89de630adaf1225864010c" title="Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...">satisfiesBounds()</a> always returns true, sampling uniform time states always produces time 0 and <a class="el" href="classompl_1_1base_1_1TimeStateSpace.html#a8ec7091055790c74a37d0657fcf50a9b" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">getMaximumExtent()</a> returns 1. If time is bounded (<a class="el" href="classompl_1_1base_1_1TimeStateSpace.html#a3c51355b0e7e620ba7da19c85cac93ee" title="Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...">setBounds()</a> has been previously called), the state space behaves as expected. After construction, the state space is unbounded. <a class="el" href="classompl_1_1base_1_1TimeStateSpace.html#a9f02b882da1a3598743e4bad0d8d542e" title="Check if the time is bounded or not.">isBounded()</a> can be used to check if the state space is bounded or not. <a href="classompl_1_1base_1_1TimeStateSpace.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1State.html">State</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of an abstract state. <a href="classompl_1_1base_1_1State.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundState.html">CompoundState</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a compound state. <a href="classompl_1_1base_1_1CompoundState.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSampler.html">StateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Abstract definition of a state space sampler. <a href="classompl_1_1base_1_1StateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html">CompoundStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a compound state sampler. This is useful to construct samplers for compound states. <a href="classompl_1_1base_1_1CompoundStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structompl_1_1base_1_1SamplerSelector.html">SamplerSelector</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Depending on the type of state sampler, we have different allocation routines. <a href="structompl_1_1base_1_1SamplerSelector.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSamplerArray.html">StateSamplerArray</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planners. <a href="classompl_1_1base_1_1StateSamplerArray.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html">CompoundStateSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A space to allow the composition of state spaces. <a href="classompl_1_1base_1_1CompoundStateSpace.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html">StateValidityChecker</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Abstract definition for a class checking the validity of states. The implementation of this class must be thread safe. <a href="classompl_1_1base_1_1StateValidityChecker.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1AllValidStateValidityChecker.html">AllValidStateValidityChecker</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The simplest state validity checker: all states are valid. <a href="classompl_1_1base_1_1AllValidStateValidityChecker.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html">ValidStateSampler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Abstract definition of a state sampler. <a href="classompl_1_1base_1_1ValidStateSampler.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1GoalPtr.html">GoalPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">ompl::base::Goal</a>. <a href="classompl_1_1base_1_1GoalPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1MotionValidatorPtr.html">MotionValidatorPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1MotionValidator.html" title="Abstract definition for a class checking the validity of motions -- path segments between states...">ompl::base::MotionValidator</a>. <a href="classompl_1_1base_1_1MotionValidatorPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PathPtr.html">PathPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1Path.html" title="Abstract definition of a path.">ompl::base::Path</a>. <a href="classompl_1_1base_1_1PathPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerPtr.html">PlannerPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">ompl::base::Planner</a>. <a href="classompl_1_1base_1_1PlannerPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">ompl::base::ProblemDefinition</a>. <a href="classompl_1_1base_1_1ProblemDefinitionPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">ProjectionEvaluatorPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ompl::base::ProjectionEvaluator</a>. <a href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <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...">ompl::base::SpaceInformation</a>. <a href="classompl_1_1base_1_1SpaceInformationPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1StateSampler.html" title="Abstract definition of a state space sampler.">ompl::base::StateSampler</a>. <a href="classompl_1_1base_1_1StateSamplerPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ompl::base::StateSpace</a>. <a href="classompl_1_1base_1_1StateSpacePtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityCheckerPtr.html">StateValidityCheckerPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">ompl::base::StateValidityChecker</a>. <a href="classompl_1_1base_1_1StateValidityCheckerPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSamplerPtr.html">ValidStateSamplerPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1base_1_1ValidStateSampler.html" title="Abstract definition of a state sampler.">ompl::base::ValidStateSampler</a>. <a href="classompl_1_1base_1_1ValidStateSamplerPtr.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StatePropagatorPtr.html">StatePropagatorPtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A boost shared pointer wrapper for <a class="el" href="classompl_1_1control_1_1StatePropagator.html">ompl::control::StatePropagator</a>. <a href="classompl_1_1base_1_1StatePropagatorPtr.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7ed818b17b8281f0dbb11b666a76aaa7"></a><!-- doxytag: member="ompl::base::GoalSamplingFn" ref="a7ed818b17b8281f0dbb11b666a76aaa7" args="" -->
typedef boost::function2< bool, <br class="typebreak"/>
const <a class="el" href="classompl_1_1base_1_1GoalLazySamples.html">GoalLazySamples</a> *, <a class="el" href="classompl_1_1base_1_1State.html">State</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a7ed818b17b8281f0dbb11b666a76aaa7">GoalSamplingFn</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">Goal</a> sampling function. Returns false when no further calls should be made to it. Fills its second argument (the state) with the sampled goal state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a52191d97eed3ef76517fd4f6f94d27a9"></a><!-- doxytag: member="ompl::base::PlannerAllocator" ref="a52191d97eed3ef76517fd4f6f94d27a9" args="" -->
typedef boost::function1<br class="typebreak"/>
< <a class="el" href="classompl_1_1base_1_1PlannerPtr.html">PlannerPtr</a>, const <br class="typebreak"/>
<a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> & > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a52191d97eed3ef76517fd4f6f94d27a9">PlannerAllocator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a function that can allocate a planner. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a23037e2dfd720e4b1b7b4d1c6b09ba1d"></a><!-- doxytag: member="ompl::base::PlannerTerminationConditionFn" ref="a23037e2dfd720e4b1b7b4d1c6b09ba1d" args="" -->
typedef boost::function0< bool > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d">PlannerTerminationConditionFn</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Signature for functions that decide whether termination conditions have been met for a planner, even if no solution is found. This is usually reaching a time or memory limit. If the function returns true, the planner is signaled to terminate its computation. Otherwise, computation continues while this function returns false, until a solution is found. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a01cfb1e28af37bb139841342cb4afb0c"></a><!-- doxytag: member="ompl::base::ProjectionCoordinates" ref="a01cfb1e28af37bb139841342cb4afb0c" args="" -->
typedef std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a01cfb1e28af37bb139841342cb4afb0c">ProjectionCoordinates</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid</a> cells corresponding to a projection value are described in terms of their coordinates. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa83f2e90d56884b236b1e400d116b10b"></a><!-- doxytag: member="ompl::base::EuclideanProjection" ref="aa83f2e90d56884b236b1e400d116b10b" args="" -->
typedef <br class="typebreak"/>
boost::numeric::ublas::vector<br class="typebreak"/>
< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b">EuclideanProjection</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The datatype for state projections. This class contains a real vector. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2366ab3e3b91738fe0b51bafabf50a83"></a><!-- doxytag: member="ompl::base::ScopedStatePtr" ref="a2366ab3e3b91738fe0b51bafabf50a83" args="" -->
typedef boost::shared_ptr<br class="typebreak"/>
< <a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a><> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a2366ab3e3b91738fe0b51bafabf50a83">ScopedStatePtr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Shared pointer to a ScopedState<> <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a208ad51fcef09961293d23b589a4dbfa"></a><!-- doxytag: member="ompl::base::StateValidityCheckerFn" ref="a208ad51fcef09961293d23b589a4dbfa" args="" -->
typedef boost::function1< bool, <br class="typebreak"/>
const <a class="el" href="classompl_1_1base_1_1State.html">State</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a208ad51fcef09961293d23b589a4dbfa">StateValidityCheckerFn</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If no state validity checking class is specified (<a class="el" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">StateValidityChecker</a>), a boost function can be specified instead. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a58736601905ecc753990d7d053c3a0b4"></a><!-- doxytag: member="ompl::base::ValidStateSamplerAllocator" ref="a58736601905ecc753990d7d053c3a0b4" args="" -->
typedef boost::function1<br class="typebreak"/>
< <a class="el" href="classompl_1_1base_1_1ValidStateSamplerPtr.html">ValidStateSamplerPtr</a>, const <br class="typebreak"/>
<a class="el" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a58736601905ecc753990d7d053c3a0b4">ValidStateSamplerAllocator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a function that can allocate a state sampler. <br/></td></tr>
<tr><td colspan="2"><h2><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55">GoalType</a> { <br/>
  <a class="el" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a63728e6f4a505262163e918202bd1785">GOAL_ANY</a> = 1,
<a class="el" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a45bf52626bee439d29a04158d867a979">GOAL_REGION</a> = GOAL_ANY + 2,
<a class="el" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">GOAL_SAMPLEABLE_REGION</a> = GOAL_REGION + 4,
<a class="el" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a451d783254d6bb398c15495e87bc1b86">GOAL_STATE</a> = GOAL_SAMPLEABLE_REGION + 8,
<br/>
  <a class="el" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a80679771e14cf79b8baf3e5ecae20142">GOAL_STATES</a> = GOAL_SAMPLEABLE_REGION + 16,
<a class="el" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a15dee78752265020cab91cf866fee69d">GOAL_LAZY_SAMPLES</a> = GOAL_STATES + 32
<br/>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of goal. <a href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920">StateSpaceType</a> { <br/>
  <a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920a4247bd6859b13c6482caed7f9dd9996d">STATE_SPACE_UNKNOWN</a> = 0,
<a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920abb95f16481daa006d055bad7060b8fbb">STATE_SPACE_REAL_VECTOR</a> = 1,
<a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920aca07fe8d9ce9fe45ad5d1b2d90c8c1fc">STATE_SPACE_SO2</a> = 2,
<a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920ae9ec8f7cf5204246a32a44768d843fb1">STATE_SPACE_SO3</a> = 3,
<br/>
  <a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920a197336a12b06210c42899c5b53c298b1">STATE_SPACE_SE2</a> = 4,
<a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920acc8d4a06096c378b5473fe4caf8171f8">STATE_SPACE_SE3</a> = 5,
<a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920afc515ecf796d311c9ae7ae879fb63158">STATE_SPACE_TIME</a> = 6,
<a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920a56b36a6f5b0a8ae48be0baa7e348def3">STATE_SPACE_DISCRETE</a> = 7,
<br/>
  <a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920aa011308faae02860d3e6fe26be28c167">STATE_SPACE_TYPE_COUNT</a>
<br/>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of a state space. <a href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a746ce4d50a7f41d386a33d2a9ed069f8"></a><!-- doxytag: member="ompl::base::ClassForward" ref="a746ce4d50a7f41d386a33d2a9ed069f8" args="(Goal)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1Goal.html">Goal</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">ompl::base::Goal</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a25b38f1111ea7a44671cac5a0f08a0f7"></a><!-- doxytag: member="ompl::base::ClassForward" ref="a25b38f1111ea7a44671cac5a0f08a0f7" args="(SpaceInformation)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a25b38f1111ea7a44671cac5a0f08a0f7">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <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...">ompl::base::SpaceInformation</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a62875ba9bbc90c742b2626a3004304"></a><!-- doxytag: member="ompl::base::ClassForward" ref="a5a62875ba9bbc90c742b2626a3004304" args="(MotionValidator)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a5a62875ba9bbc90c742b2626a3004304">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1MotionValidator.html">MotionValidator</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1MotionValidator.html" title="Abstract definition for a class checking the validity of motions -- path segments between states...">ompl::base::MotionValidator</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab2ab34ba66300ae79145da756ebf114f"></a><!-- doxytag: member="ompl::base::ClassForward" ref="ab2ab34ba66300ae79145da756ebf114f" args="(Path)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#ab2ab34ba66300ae79145da756ebf114f">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1Path.html">Path</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1Path.html" title="Abstract definition of a path.">ompl::base::Path</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acc7277877d2517acadd8e31ef64e4d98"></a><!-- doxytag: member="ompl::base::ClassForward" ref="acc7277877d2517acadd8e31ef64e4d98" args="(Planner)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#acc7277877d2517acadd8e31ef64e4d98">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1Planner.html">Planner</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">ompl::base::Planner</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae26e5f143063be389fba4906d438a381"></a><!-- doxytag: member="ompl::base::timedPlannerTerminationCondition" ref="ae26e5f143063be389fba4906d438a381" args="(double duration)" -->
<a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html">PlannerTerminationCondition</a> </td><td class="memItemRight" valign="bottom"><b>timedPlannerTerminationCondition</b> (double duration)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a55adbc5a9af26f8d91b2febabaae17b8"></a><!-- doxytag: member="ompl::base::ClassForward" ref="a55adbc5a9af26f8d91b2febabaae17b8" args="(ProblemDefinition)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a55adbc5a9af26f8d91b2febabaae17b8">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1ProblemDefinition.html">ProblemDefinition</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">ompl::base::ProblemDefinition</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a805d25f8627683cf6c53ebe135631f14"></a><!-- doxytag: member="ompl::base::ClassForward" ref="a805d25f8627683cf6c53ebe135631f14" args="(StateSpace)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a805d25f8627683cf6c53ebe135631f14">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ompl::base::StateSpace</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adaabb4e0e908158922e4042dc5780be3"></a><!-- doxytag: member="ompl::base::ClassForward" ref="adaabb4e0e908158922e4042dc5780be3" args="(ProjectionEvaluator)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#adaabb4e0e908158922e4042dc5780be3">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html">ProjectionEvaluator</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ompl::base::ProjectionEvaluator</a>. <br/></td></tr>
<tr><td class="memTemplParams" colspan="2"><a class="anchor" id="ga17c5c6bebdc795305757693385c0593a"></a><!-- doxytag: member="ompl::base::operator<<" ref="ga17c5c6bebdc795305757693385c0593a" args="(std::ostream &out, const ScopedState< T > &state)" -->
template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">std::ostream & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stateAndSpaceOperators.html#ga17c5c6bebdc795305757693385c0593a">operator<<</a> (std::ostream &out, const <a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< T > &state)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Overload stream output operator. Calls <a class="el" href="classompl_1_1base_1_1StateSpace.html#a5f92fa826285aaa7adff4c1fd07a4023" title="Print a state to a stream.">ompl::base::StateSpace::printState()</a> <br/></td></tr>
<tr><td class="memTemplParams" colspan="2"><a class="anchor" id="gaf8a616d4ac7f5f856d8a5fe95bb6ae73"></a><!-- doxytag: member="ompl::base::operator<<" ref="gaf8a616d4ac7f5f856d8a5fe95bb6ae73" args="(ScopedState< T > &to, const ScopedState< Y > &from)" -->
template<class T , class Y > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< T > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stateAndSpaceOperators.html#gaf8a616d4ac7f5f856d8a5fe95bb6ae73">operator<<</a> (<a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< T > &to, const <a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< Y > &from)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is a fancy version of the assignment operator. It is a partial assignment, in some sense. The difference is that if the states are part of compound state spaces, the data is copied from <em>from</em> to <em>to</em> on a component by component basis. <a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> spaces are matched by name. If the state space for <em>to</em> contains any subspace whose name matches any subspace of the state space for <em>from</em>, the corresponding state components are copied. <br/></td></tr>
<tr><td class="memTemplParams" colspan="2"><a class="anchor" id="ga5d41ba2026ef0c1de62ac81813ca7046"></a><!-- doxytag: member="ompl::base::operator>>" ref="ga5d41ba2026ef0c1de62ac81813ca7046" args="(const ScopedState< T > &from, ScopedState< Y > &to)" -->
template<class T , class Y > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const <a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< T > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stateAndSpaceOperators.html#ga5d41ba2026ef0c1de62ac81813ca7046">operator>></a> (const <a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< T > &from, <a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< Y > &to)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is a fancy version of the assignment operator. It is a partial assignment, in some sense. The difference is that if the states are part of compound state spaces, the data is copied from <em>from</em> to <em>to</em> on a component by component basis. <a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> spaces are matched by name. If the state space for <em>to</em> contains any subspace whose name matches any subspace of the state space for <em>from</em>, the corresponding state components are copied. <br/></td></tr>
<tr><td class="memTemplParams" colspan="2"><a class="anchor" id="ga6db8232ebedcab3a50779bc50a6b495c"></a><!-- doxytag: member="ompl::base::operator^" ref="ga6db8232ebedcab3a50779bc50a6b495c" args="(const ScopedState< T > &a, const ScopedState< Y > &b)" -->
template<class T , class Y > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stateAndSpaceOperators.html#ga6db8232ebedcab3a50779bc50a6b495c">operator^</a> (const <a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< T > &a, const <a class="el" href="classompl_1_1base_1_1ScopedState.html">ScopedState</a>< Y > &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Given state <em>a</em> from state space A and state <em>b</em> from state space B, construct a state from state space A + B. The resulting state contains all the information from the input states (the states are concatenated). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a28f47f0634ddee5c73674b5e0fb2d9aa"></a><!-- doxytag: member="ompl::base::copyStateData" ref="a28f47f0634ddee5c73674b5e0fb2d9aa" args="(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS, const State *source)" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a28f47f0634ddee5c73674b5e0fb2d9aa">copyStateData</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &destS, <a class="el" href="classompl_1_1base_1_1State.html">State</a> *dest, const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &sourceS, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *source)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy data from <em>source</em> (state from space <em>sourceS</em>) to <em>dest</em> (state from space <em>destS</em>) on a component by component basis. <a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> spaces are matched by name. If the state space <em>destS</em> contains any subspace whose name matches any subspace of the state space <em>sourceS</em>, the corresponding state components are copied. The return value is either 0 (no data copied), 1 (some data copied), 2 (all data copied) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga1a2a068c3ba88614e32425cf4c493261"></a><!-- doxytag: member="ompl::base::operator+" ref="ga1a2a068c3ba88614e32425cf4c493261" args="(const StateSpacePtr &a, const StateSpacePtr &b)" -->
<a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__stateAndSpaceOperators.html#ga1a2a068c3ba88614e32425cf4c493261">operator+</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &a, const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct a compound state space from two existing state spaces. The components of this compound space are <em>a</em> (or the components of <em>a</em>, if <em>a</em> is compound) and <em>b</em> (or the components of <em>b</em>, if <em>b</em> is compound). <a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> spaces are identified by name. Duplicates are checked for and added only once. If the compound state space would end up containing solely one component, that component is returned instead. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga849c861f1e209144fbab68a95c479eb8"></a><!-- doxytag: member="ompl::base::operator-" ref="ga849c861f1e209144fbab68a95c479eb8" args="(const StateSpacePtr &a, const StateSpacePtr &b)" -->
<a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__stateAndSpaceOperators.html#ga849c861f1e209144fbab68a95c479eb8">operator-</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &a, const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct a compound state space that contains subspaces only from <em>a</em>. If <em>a</em> is compound, <em>b</em> (or the components from <em>b</em>, if <em>b</em> is compound) are removed and the remaining components are returned as a compound state space. If the compound space would end up containing solely one component, that component is returned instead. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gae1b5c9d6ea57481723cf8a9683a4eabc"></a><!-- doxytag: member="ompl::base::operator-" ref="gae1b5c9d6ea57481723cf8a9683a4eabc" args="(const StateSpacePtr &a, const std::string &name)" -->
<a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__stateAndSpaceOperators.html#gae1b5c9d6ea57481723cf8a9683a4eabc">operator-</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &a, const std::string &name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct a compound state space that contains subspaces only from <em>a</em>, except for maybe the one named <em>name</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga16229a85742bb392d45ea9fdc49d7434"></a><!-- doxytag: member="ompl::base::operator*" ref="ga16229a85742bb392d45ea9fdc49d7434" args="(const StateSpacePtr &a, const StateSpacePtr &b)" -->
<a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__stateAndSpaceOperators.html#ga16229a85742bb392d45ea9fdc49d7434">operator*</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &a, const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct a compound state space that contains subspaces that are in both <em>a</em> and <em>b</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa8fe23ab539ed750420d9c6c53dce56a"></a><!-- doxytag: member="ompl::base::ClassForward" ref="aa8fe23ab539ed750420d9c6c53dce56a" args="(StateSampler)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#aa8fe23ab539ed750420d9c6c53dce56a">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1StateSampler.html">StateSampler</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1StateSampler.html" title="Abstract definition of a state space sampler.">ompl::base::StateSampler</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a68bf24fa035a7557220fed4e24f03e64"></a><!-- doxytag: member="ompl::base::ClassForward" ref="a68bf24fa035a7557220fed4e24f03e64" args="(StateValidityChecker)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#a68bf24fa035a7557220fed4e24f03e64">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1StateValidityChecker.html">StateValidityChecker</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">ompl::base::StateValidityChecker</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeaf5fedd22252062e8b9079833cba0bc"></a><!-- doxytag: member="ompl::base::ClassForward" ref="aeaf5fedd22252062e8b9079833cba0bc" args="(ValidStateSampler)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1base.html#aeaf5fedd22252062e8b9079833cba0bc">ClassForward</a> (<a class="el" href="classompl_1_1base_1_1ValidStateSampler.html">ValidStateSampler</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forward declaration of <a class="el" href="classompl_1_1base_1_1ValidStateSampler.html" title="Abstract definition of a state sampler.">ompl::base::ValidStateSampler</a>. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This namespace contains sampling based planning routines shared by both planning under geometric constraints (geometric) and planning under differential constraints (dynamic) </p>
</div><hr/><h2>Enumeration Type Documentation</h2>
<a class="anchor" id="a1620a159019faf720c550eeca5723f55"></a><!-- doxytag: member="ompl::base::GoalType" ref="a1620a159019faf720c550eeca5723f55" args="" -->
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<td class="memname">enum <a class="el" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55">ompl::base::GoalType</a></td>
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<p>The type of goal. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a1620a159019faf720c550eeca5723f55a63728e6f4a505262163e918202bd1785"></a><!-- doxytag: member="GOAL_ANY" ref="a1620a159019faf720c550eeca5723f55a63728e6f4a505262163e918202bd1785" args="" -->GOAL_ANY</em> </td><td>
<p>This bit is set if casting to generic goal regions (<a class="el" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">ompl::base::Goal</a>) is possible. This bit shold always be set. </p>
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<tr><td valign="top"><em><a class="anchor" id="a1620a159019faf720c550eeca5723f55a45bf52626bee439d29a04158d867a979"></a><!-- doxytag: member="GOAL_REGION" ref="a1620a159019faf720c550eeca5723f55a45bf52626bee439d29a04158d867a979" args="" -->GOAL_REGION</em> </td><td>
<p>This bit is set if casting to goal regions (<a class="el" href="classompl_1_1base_1_1GoalRegion.html" title="Definition of a goal region.">ompl::base::GoalRegion</a>) is possible. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9"></a><!-- doxytag: member="GOAL_SAMPLEABLE_REGION" ref="a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9" args="" -->GOAL_SAMPLEABLE_REGION</em> </td><td>
<p>This bit is set if casting to sampleable goal regions (<a class="el" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">ompl::base::GoalSampleableRegion</a>) is possible. </p>
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<tr><td valign="top"><em><a class="anchor" id="a1620a159019faf720c550eeca5723f55a451d783254d6bb398c15495e87bc1b86"></a><!-- doxytag: member="GOAL_STATE" ref="a1620a159019faf720c550eeca5723f55a451d783254d6bb398c15495e87bc1b86" args="" -->GOAL_STATE</em> </td><td>
<p>This bit is set if casting to goal state (<a class="el" href="classompl_1_1base_1_1GoalState.html" title="Definition of a goal state.">ompl::base::GoalState</a>) is possible. </p>
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<tr><td valign="top"><em><a class="anchor" id="a1620a159019faf720c550eeca5723f55a80679771e14cf79b8baf3e5ecae20142"></a><!-- doxytag: member="GOAL_STATES" ref="a1620a159019faf720c550eeca5723f55a80679771e14cf79b8baf3e5ecae20142" args="" -->GOAL_STATES</em> </td><td>
<p>This bit is set if casting to goal states (<a class="el" href="classompl_1_1base_1_1GoalStates.html" title="Definition of a set of goal states.">ompl::base::GoalStates</a>) is possible. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a1620a159019faf720c550eeca5723f55a15dee78752265020cab91cf866fee69d"></a><!-- doxytag: member="GOAL_LAZY_SAMPLES" ref="a1620a159019faf720c550eeca5723f55a15dee78752265020cab91cf866fee69d" args="" -->GOAL_LAZY_SAMPLES</em> </td><td>
<p>This bit is set if casting to goal states (<a class="el" href="classompl_1_1base_1_1GoalLazySamples.html" title="Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner.">ompl::base::GoalLazySamples</a>) is possible. </p>
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<p>Definition at line <a class="el" href="GoalTypes_8h_source.html#l00046">46</a> of file <a class="el" href="GoalTypes_8h_source.html">GoalTypes.h</a>.</p>
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<a class="anchor" id="a056b022e14fe04a75f81789947353920"></a><!-- doxytag: member="ompl::base::StateSpaceType" ref="a056b022e14fe04a75f81789947353920" args="" -->
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<td class="memname">enum <a class="el" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920">ompl::base::StateSpaceType</a></td>
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<div class="memdoc">
<p>The type of a state space. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920a4247bd6859b13c6482caed7f9dd9996d"></a><!-- doxytag: member="STATE_SPACE_UNKNOWN" ref="a056b022e14fe04a75f81789947353920a4247bd6859b13c6482caed7f9dd9996d" args="" -->STATE_SPACE_UNKNOWN</em> </td><td>
<p>Unset type; this is the default type. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920abb95f16481daa006d055bad7060b8fbb"></a><!-- doxytag: member="STATE_SPACE_REAL_VECTOR" ref="a056b022e14fe04a75f81789947353920abb95f16481daa006d055bad7060b8fbb" args="" -->STATE_SPACE_REAL_VECTOR</em> </td><td>
<p><a class="el" href="classompl_1_1base_1_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm.">ompl::base::RealVectorStateSpace</a> </p>
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<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920aca07fe8d9ce9fe45ad5d1b2d90c8c1fc"></a><!-- doxytag: member="STATE_SPACE_SO2" ref="a056b022e14fe04a75f81789947353920aca07fe8d9ce9fe45ad5d1b2d90c8c1fc" args="" -->STATE_SPACE_SO2</em> </td><td>
<p><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html" title="A state space representing SO(2). The distance function and interpolation take into account angle wra...">ompl::base::SO2StateSpace</a> </p>
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<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920ae9ec8f7cf5204246a32a44768d843fb1"></a><!-- doxytag: member="STATE_SPACE_SO3" ref="a056b022e14fe04a75f81789947353920ae9ec8f7cf5204246a32a44768d843fb1" args="" -->STATE_SPACE_SO3</em> </td><td>
<p><a class="el" 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.">ompl::base::SO3StateSpace</a> </p>
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<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920a197336a12b06210c42899c5b53c298b1"></a><!-- doxytag: member="STATE_SPACE_SE2" ref="a056b022e14fe04a75f81789947353920a197336a12b06210c42899c5b53c298b1" args="" -->STATE_SPACE_SE2</em> </td><td>
<p><a class="el" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">ompl::base::SE2StateSpace</a> </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920acc8d4a06096c378b5473fe4caf8171f8"></a><!-- doxytag: member="STATE_SPACE_SE3" ref="a056b022e14fe04a75f81789947353920acc8d4a06096c378b5473fe4caf8171f8" args="" -->STATE_SPACE_SE3</em> </td><td>
<p><a class="el" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">ompl::base::SE3StateSpace</a> </p>
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<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920afc515ecf796d311c9ae7ae879fb63158"></a><!-- doxytag: member="STATE_SPACE_TIME" ref="a056b022e14fe04a75f81789947353920afc515ecf796d311c9ae7ae879fb63158" args="" -->STATE_SPACE_TIME</em> </td><td>
<p><a class="el" 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...">ompl::base::TimeStateSpace</a> </p>
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<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920a56b36a6f5b0a8ae48be0baa7e348def3"></a><!-- doxytag: member="STATE_SPACE_DISCRETE" ref="a056b022e14fe04a75f81789947353920a56b36a6f5b0a8ae48be0baa7e348def3" args="" -->STATE_SPACE_DISCRETE</em> </td><td>
<p><a class="el" 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...">ompl::base::DiscreteStateSpace</a> </p>
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<tr><td valign="top"><em><a class="anchor" id="a056b022e14fe04a75f81789947353920aa011308faae02860d3e6fe26be28c167"></a><!-- doxytag: member="STATE_SPACE_TYPE_COUNT" ref="a056b022e14fe04a75f81789947353920aa011308faae02860d3e6fe26be28c167" args="" -->STATE_SPACE_TYPE_COUNT</em> </td><td>
<p>Number of state space types; To add new types, use values that are larger than the count. </p>
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</dd>
</dl>
<p>Definition at line <a class="el" href="StateSpaceTypes_8h_source.html#l00046">46</a> of file <a class="el" href="StateSpaceTypes_8h_source.html">StateSpaceTypes.h</a>.</p>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<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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