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ompl-devel-0.9.5-1.fc14.i686.rpm

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<div class="title">ODEStateSpace.h</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_EXTENSION_ODE_STATE_SPACE_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_EXTENSION_ODE_STATE_SPACE_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/StateSpace.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/base/spaces/RealVectorStateSpace.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/base/spaces/SO3StateSpace.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &quot;ompl/extensions/ode/ODEEnvironment.h&quot;</span>
<a name="l00044"></a>00044 
<a name="l00045"></a>00045 <span class="keyword">namespace </span>ompl
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047     <span class="keyword">namespace </span>control
<a name="l00048"></a>00048     {
<a name="l00049"></a>00049 
<a name="l00051"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html">00051</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a> : <span class="keyword">public</span> base::CompoundStateSpace
<a name="l00052"></a>00052         {
<a name="l00053"></a>00053         <span class="keyword">public</span>:
<a name="l00054"></a>00054 
<a name="l00055"></a>00055             <span class="keyword">enum</span>
<a name="l00056"></a>00056                 {
<a name="l00058"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaed833e9de7ff11ae0e1913a2c23222f4">00058</a>                     <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaed833e9de7ff11ae0e1913a2c23222f4" title="Index of bit in StateType::collision indicating whether it is known if a state is in collision or not...">STATE_COLLISION_KNOWN_BIT</a> = 0,
<a name="l00060"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaa73ce13533ae4274372087653cc91c99">00060</a>                     <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaa73ce13533ae4274372087653cc91c99" title="Index of bit in StateType::collision indicating whether a state is in collision or not...">STATE_COLLISION_VALUE_BIT</a> = 1,
<a name="l00062"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fda10f9959c7abdf3c6c80c7e0190a0c7fb">00062</a>                     <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fda10f9959c7abdf3c6c80c7e0190a0c7fb" title="Index of bit in StateType::collision indicating whether it is known if a state is in valid or not...">STATE_VALIDITY_KNOWN_BIT</a> = 2,
<a name="l00064"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fda2b1ca7a8e59afc00ad7aa945589d4607">00064</a>                     <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fda2b1ca7a8e59afc00ad7aa945589d4607" title="Index of bit in StateType::collision indicating whether a state is valid or not. Initially the value ...">STATE_VALIDITY_VALUE_BIT</a> = 3,
<a name="l00065"></a>00065                 };
<a name="l00066"></a>00066 
<a name="l00068"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html">00068</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html" title="ODE State. This is a compound state that allows accessing the properties of the bodies the state spac...">StateType</a> : <span class="keyword">public</span> base::<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a43fcd7596d5bd743c05a9142e7405bb9" title="Construct an empty compound state space.">CompoundStateSpace</a>::<a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html" title="ODE State. This is a compound state that allows accessing the properties of the bodies the state spac...">StateType</a>
<a name="l00069"></a>00069             {
<a name="l00070"></a>00070             <span class="keyword">public</span>:
<a name="l00071"></a>00071                 <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html" title="ODE State. This is a compound state that allows accessing the properties of the bodies the state spac...">StateType</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">base::CompoundStateSpace::StateType</a>(), <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1ba5dfafa14052fd4a9ee317cddcd596" title="Flag containing information about state validity.">collision</a>(0)
<a name="l00072"></a>00072                 {
<a name="l00073"></a>00073                 }
<a name="l00074"></a>00074 
<a name="l00076"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a97add6d9f4c4a303e1382ace5c55e521">00076</a>                 <span class="keyword">const</span> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a97add6d9f4c4a303e1382ace5c55e521" title="Get the position (x, y, z) of the body at index body.">getBodyPosition</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> body)<span class="keyword"> const</span>
<a name="l00077"></a>00077 <span class="keyword">                </span>{
<a name="l00078"></a>00078                     <span class="keywordflow">return</span> as&lt;base::RealVectorStateSpace::StateType&gt;(body * 4)-&gt;values;
<a name="l00079"></a>00079                 }
<a name="l00080"></a>00080 
<a name="l00082"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a7d4c2a0af078ebf427c3c12f51eba2b1">00082</a>                 <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a97add6d9f4c4a303e1382ace5c55e521" title="Get the position (x, y, z) of the body at index body.">getBodyPosition</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> body)
<a name="l00083"></a>00083                 {
<a name="l00084"></a>00084                     <span class="keywordflow">return</span> as&lt;base::RealVectorStateSpace::StateType&gt;(body * 4)-&gt;values;
<a name="l00085"></a>00085                 }
<a name="l00086"></a>00086 
<a name="l00088"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a4aa3bab17e549b9cfa90959ac2ab98b4">00088</a>                 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html" title="The definition of a state in SO(3) represented as a unit quaternion.">base::SO3StateSpace::StateType</a>&amp; <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a4aa3bab17e549b9cfa90959ac2ab98b4" title="Get the quaternion of the body at index body.">getBodyRotation</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> body)<span class="keyword"> const</span>
<a name="l00089"></a>00089 <span class="keyword">                </span>{
<a name="l00090"></a>00090                     <span class="keywordflow">return</span> *as&lt;base::SO3StateSpace::StateType&gt;(body * 4 + 3);
<a name="l00091"></a>00091                 }
<a name="l00092"></a>00092 
<a name="l00094"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a950c0639913a2ded35005700bb6add5b">00094</a>                 <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html" title="The definition of a state in SO(3) represented as a unit quaternion.">base::SO3StateSpace::StateType</a>&amp; <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a4aa3bab17e549b9cfa90959ac2ab98b4" title="Get the quaternion of the body at index body.">getBodyRotation</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> body)
<a name="l00095"></a>00095                 {
<a name="l00096"></a>00096                     <span class="keywordflow">return</span> *as&lt;base::SO3StateSpace::StateType&gt;(body * 4 + 3);
<a name="l00097"></a>00097                 }
<a name="l00098"></a>00098 
<a name="l00100"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1d3af71b81cdd0c88793ae5c17f5ef04">00100</a>                 <span class="keyword">const</span> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1d3af71b81cdd0c88793ae5c17f5ef04" title="Get the linear velocity (x, y, z) of the body at index body.">getBodyLinearVelocity</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> body)<span class="keyword"> const</span>
<a name="l00101"></a>00101 <span class="keyword">                </span>{
<a name="l00102"></a>00102                     <span class="keywordflow">return</span> as&lt;base::RealVectorStateSpace::StateType&gt;(body * 4 + 1)-&gt;values;
<a name="l00103"></a>00103                 }
<a name="l00104"></a>00104 
<a name="l00106"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a698bd2928b2c590965f2d0616b61d50d">00106</a>                 <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1d3af71b81cdd0c88793ae5c17f5ef04" title="Get the linear velocity (x, y, z) of the body at index body.">getBodyLinearVelocity</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> body)
<a name="l00107"></a>00107                 {
<a name="l00108"></a>00108                     <span class="keywordflow">return</span> as&lt;base::RealVectorStateSpace::StateType&gt;(body * 4 + 1)-&gt;values;
<a name="l00109"></a>00109                 }
<a name="l00110"></a>00110 
<a name="l00112"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a85a649919c39e95887ee5b1e94116ed9">00112</a>                 <span class="keyword">const</span> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a85a649919c39e95887ee5b1e94116ed9" title="Get the angular velocity (x, y, z) of the body at index body.">getBodyAngularVelocity</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> body)<span class="keyword"> const</span>
<a name="l00113"></a>00113 <span class="keyword">                </span>{
<a name="l00114"></a>00114                     <span class="keywordflow">return</span> as&lt;base::RealVectorStateSpace::StateType&gt;(body * 4 + 2)-&gt;values;
<a name="l00115"></a>00115                 }
<a name="l00116"></a>00116 
<a name="l00118"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a92df615db19607d639eae6848bdc1b24">00118</a>                 <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a85a649919c39e95887ee5b1e94116ed9" title="Get the angular velocity (x, y, z) of the body at index body.">getBodyAngularVelocity</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> body)
<a name="l00119"></a>00119                 {
<a name="l00120"></a>00120                     <span class="keywordflow">return</span> as&lt;base::RealVectorStateSpace::StateType&gt;(body * 4 + 2)-&gt;values;
<a name="l00121"></a>00121                 }
<a name="l00122"></a>00122 
<a name="l00129"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1ba5dfafa14052fd4a9ee317cddcd596">00129</a>                 <span class="keyword">mutable</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1ba5dfafa14052fd4a9ee317cddcd596" title="Flag containing information about state validity.">collision</a>;
<a name="l00130"></a>00130 
<a name="l00131"></a>00131             };
<a name="l00132"></a>00132 
<a name="l00148"></a>00148             <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ac895b311341b2fbc01fc140a5d0d654d" title="Construct a state space representing ODE states.">ODEStateSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironmentPtr.html" title="A boost shared pointer wrapper for ompl::control::ODEEnvironment.">ODEEnvironmentPtr</a> &amp;env,
<a name="l00149"></a>00149                           <span class="keywordtype">double</span> positionWeight = 1.0, <span class="keywordtype">double</span> linVelWeight = 0.5,
<a name="l00150"></a>00150                           <span class="keywordtype">double</span> angVelWeight = 0.5, <span class="keywordtype">double</span> orientationWeight = 1.0);
<a name="l00151"></a>00151 
<a name="l00152"></a>00152             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>(<span class="keywordtype">void</span>)
<a name="l00153"></a>00153             {
<a name="l00154"></a>00154             }
<a name="l00155"></a>00155 
<a name="l00157"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a05f2d0feca87376bfede048f0709232f">00157</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironmentPtr.html" title="A boost shared pointer wrapper for ompl::control::ODEEnvironment.">ODEEnvironmentPtr</a>&amp; <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a05f2d0feca87376bfede048f0709232f" title="Get the ODE environment this state space corresponds to.">getEnvironment</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00158"></a>00158 <span class="keyword">            </span>{
<a name="l00159"></a>00159                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a14bed6203a14e8dfdb10f8a7ede817da" title="Representation of the ODE parameters OMPL needs to plan.">env_</a>;
<a name="l00160"></a>00160             }
<a name="l00161"></a>00161 
<a name="l00163"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a2abdf341c56bb3dfcb77f710757bd115">00163</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a2abdf341c56bb3dfcb77f710757bd115" title="Get the number of bodies state is maintained for.">getNrBodies</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00164"></a>00164 <span class="keyword">            </span>{
<a name="l00165"></a>00165                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a14bed6203a14e8dfdb10f8a7ede817da" title="Representation of the ODE parameters OMPL needs to plan.">env_</a>-&gt;stateBodies_.size();
<a name="l00166"></a>00166             }
<a name="l00167"></a>00167 
<a name="l00173"></a>00173             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#aa920d89178817da99722e0fb733e72de" title="By default, the volume bounds enclosing the geometry of the environment are computed to include all o...">setDefaultBounds</a>(<span class="keywordtype">void</span>);
<a name="l00174"></a>00174 
<a name="l00176"></a>00176             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a572348387ab7d3176a4a1063e6b3009e" title="Set the bounds for each of the position subspaces.">setVolumeBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> &amp;bounds);
<a name="l00177"></a>00177 
<a name="l00179"></a>00179             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a0d779b1d59544cf4bfb90de4def851a5" title="Set the bounds for each of the linear velocity subspaces.">setLinearVelocityBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> &amp;bounds);
<a name="l00180"></a>00180 
<a name="l00182"></a>00182             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#aa7390b20c14d2e09f803b46d2fa9aeed" title="Set the bounds for each of the angular velocity subspaces.">setAngularVelocityBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> &amp;bounds);
<a name="l00183"></a>00183 
<a name="l00186"></a>00186             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a17b12710391410fc3fd0cc6e3eca9f1f" title="Read the parameters of the ODE bodies and store them in state.">readState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state) <span class="keyword">const</span>;
<a name="l00187"></a>00187 
<a name="l00192"></a>00192             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a7cebbdb127b722b783fab82f1873d71d" title="Set the parameters of the ODE bodies to be the ones read from state. The code will technically work i...">writeState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state) <span class="keyword">const</span>;
<a name="l00193"></a>00193 
<a name="l00201"></a>00201             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a5b061f3f0cfeb29a70ac6aaa9f2add11" title="This is a convenience function provided for optimization purposes. It checks whether a state satisfie...">satisfiesBoundsExceptRotation</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">StateType</a> *state) <span class="keyword">const</span>;
<a name="l00202"></a>00202 
<a name="l00203"></a>00203             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a>* <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a6a322bef2a5ca80db337ecd977235be9" title="Allocate a state that can store a point in the described space.">allocState</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00204"></a>00204             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a22e049b3b64c43fc4dc5bf8020c0bbd2" title="Free the memory of the allocated state.">freeState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state) <span class="keyword">const</span>;
<a name="l00205"></a>00205             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a74b7cd10a3e11b62f5e3d6c0bda79d92" title="Copy a state to another. The memory of source and destination should NOT overlap.">copyState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *destination, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source) <span class="keyword">const</span>;
<a name="l00206"></a>00206 
<a name="l00209"></a>00209             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a1f158dfa526d5573dda8dd31851ba0cf" title="Fill the ODEStateSpace::STATE_COLLISION_VALUE_BIT of StateType::collision member of a state...">evaluateCollision</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source) <span class="keyword">const</span>;
<a name="l00210"></a>00210 
<a name="l00211"></a>00211         <span class="keyword">protected</span>:
<a name="l00212"></a>00212 
<a name="l00214"></a><a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a14bed6203a14e8dfdb10f8a7ede817da">00214</a>             <a class="code" href="classompl_1_1control_1_1ODEEnvironmentPtr.html" title="A boost shared pointer wrapper for ompl::control::ODEEnvironment.">ODEEnvironmentPtr</a> <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#a14bed6203a14e8dfdb10f8a7ede817da" title="Representation of the ODE parameters OMPL needs to plan.">env_</a>;
<a name="l00215"></a>00215         };
<a name="l00216"></a>00216     }
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218 
<a name="l00219"></a>00219 
<a name="l00220"></a>00220 <span class="preprocessor">#endif</span>
</pre></div></div>
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