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<div class="title">RealVectorStateSpace.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_BASE_SPACES_REAL_VECTOR_STATE_SPACE_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_SPACES_REAL_VECTOR_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/RealVectorBounds.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;string&gt;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;map&gt;</span>
<a name="l00045"></a>00045 
<a name="l00046"></a>00046 <span class="keyword">namespace </span>ompl
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048     <span class="keyword">namespace </span>base
<a name="l00049"></a>00049     {
<a name="l00050"></a>00050 
<a name="l00052"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSampler.html">00052</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1RealVectorStateSampler.html" title="State sampler for the Rn state space.">RealVectorStateSampler</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1StateSampler.html" title="Abstract definition of a state space sampler.">StateSampler</a>
<a name="l00053"></a>00053         {
<a name="l00054"></a>00054         <span class="keyword">public</span>:
<a name="l00055"></a>00055 
<a name="l00057"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSampler.html#a2e895e10de2cb054c0a50ffe7e99e7bf">00057</a>             <a class="code" href="classompl_1_1base_1_1RealVectorStateSampler.html#a2e895e10de2cb054c0a50ffe7e99e7bf" title="Constructor.">RealVectorStateSampler</a>(<span class="keyword">const</span> <a class="code" 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.">StateSpace</a> *space) : <a class="code" href="classompl_1_1base_1_1StateSampler.html" title="Abstract definition of a state space sampler.">StateSampler</a>(space)
<a name="l00058"></a>00058             {
<a name="l00059"></a>00059             }
<a name="l00060"></a>00060 
<a name="l00061"></a>00061             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSampler.html#a7c7a1af5acf4d03c33dd5ec6a4ab50b4" title="Sample a state.">sampleUniform</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state);
<a name="l00062"></a>00062             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSampler.html#a04d589c5cb197f5cfa0626557491fac8" title="Sample a state near another, within specified distance.">sampleUniformNear</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> distance);
<a name="l00063"></a>00063             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSampler.html#a403799674d976ff4a1ae0a817b6c1b73" title="Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...">sampleGaussian</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *mean, <span class="keyword">const</span> <span class="keywordtype">double</span> stdDev);
<a name="l00064"></a>00064         };
<a name="l00065"></a>00065 
<a name="l00067"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html">00067</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm.">RealVectorStateSpace</a> : <span class="keyword">public</span> <a class="code" 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.">StateSpace</a>
<a name="l00068"></a>00068         {
<a name="l00069"></a>00069         <span class="keyword">public</span>:
<a name="l00070"></a>00070 
<a name="l00072"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html">00072</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html" title="The definition of a state in Rn">StateType</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>
<a name="l00073"></a>00073             {
<a name="l00074"></a>00074             <span class="keyword">public</span>:
<a name="l00075"></a>00075                 <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html" title="The definition of a state in Rn">StateType</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>()
<a name="l00076"></a>00076                 {
<a name="l00077"></a>00077                 }
<a name="l00078"></a>00078 
<a name="l00081"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#aecc0e20a09cd7f7ea99e5981e43ef813">00081</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#aecc0e20a09cd7f7ea99e5981e43ef813" title="Access element i of values. This does not check whether the index is within bounds.">operator[]</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i)<span class="keyword"> const</span>
<a name="l00082"></a>00082 <span class="keyword">                </span>{
<a name="l00083"></a>00083                     <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498" title="The value of the actual vector in Rn">values</a>[i];
<a name="l00084"></a>00084                 }
<a name="l00085"></a>00085 
<a name="l00088"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a8efe5303cf53d309c12fe3b406ccd97c">00088</a>                 <span class="keywordtype">double</span>&amp; <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#aecc0e20a09cd7f7ea99e5981e43ef813" title="Access element i of values. This does not check whether the index is within bounds.">operator[]</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i)
<a name="l00089"></a>00089                 {
<a name="l00090"></a>00090                     <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498" title="The value of the actual vector in Rn">values</a>[i];
<a name="l00091"></a>00091                 }
<a name="l00092"></a>00092 
<a name="l00094"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498">00094</a>                 <span class="keywordtype">double</span> *<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498" title="The value of the actual vector in Rn">values</a>;
<a name="l00095"></a>00095             };
<a name="l00096"></a>00096 
<a name="l00099"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a345793d578ff70b4de5fb5c3a8e0a93c">00099</a>             <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a345793d578ff70b4de5fb5c3a8e0a93c" title="Constructor. The dimension of of the space needs to be specified. A space representing Rdim will be i...">RealVectorStateSpace</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dim = 0) : <a class="code" 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.">StateSpace</a>(), <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a1d187d416ce5c4d0bc101912e6e7ae7f" title="The dimension of the space.">dimension_</a>(dim), <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a09ec78ff21dcbec292a4694da8f8ab92" title="The bounds of the space (used for sampling)">bounds_</a>(dim),  stateBytes_(dim * sizeof(double))
<a name="l00100"></a>00100             {
<a name="l00101"></a>00101                 <a class="code" href="classompl_1_1base_1_1StateSpace.html#a68556edd816136a66a0d81544baef08c" title="A type assigned for this state space.">type_</a> = <a class="code" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920abb95f16481daa006d055bad7060b8fbb" title="ompl::base::RealVectorStateSpace">STATE_SPACE_REAL_VECTOR</a>;
<a name="l00102"></a>00102                 <a class="code" href="classompl_1_1base_1_1StateSpace.html#ad12cc022ef531dcb563f6d3d13b847ad" title="Set the name of the state space.">setName</a>(<span class="stringliteral">&quot;RealVector&quot;</span> + <a class="code" href="classompl_1_1base_1_1StateSpace.html#a90015676df178b4406a8ab8399f0624c" title="Get the name of the state space.">getName</a>());
<a name="l00103"></a>00103                 <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a58d503f751e68f0ae946b48b526444f4" title="Optional names for individual dimensions.">dimensionNames_</a>.resize(dim, <span class="stringliteral">&quot;&quot;</span>);
<a name="l00104"></a>00104             }
<a name="l00105"></a>00105 
<a name="l00106"></a>00106             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm.">RealVectorStateSpace</a>(<span class="keywordtype">void</span>)
<a name="l00107"></a>00107             {
<a name="l00108"></a>00108             }
<a name="l00109"></a>00109 
<a name="l00111"></a>00111             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a2893436790633b216ed31123b3cf1634" title="Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this add...">addDimension</a>(<span class="keywordtype">double</span> minBound = 0.0, <span class="keywordtype">double</span> maxBound = 0.0);
<a name="l00112"></a>00112 
<a name="l00114"></a>00114             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a2893436790633b216ed31123b3cf1634" title="Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this add...">addDimension</a>(<span class="keyword">const</span> std::string &amp;name, <span class="keywordtype">double</span> minBound = 0.0, <span class="keywordtype">double</span> maxBound = 0.0);
<a name="l00115"></a>00115 
<a name="l00118"></a>00118             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#ab53c0ef2a517e34f4c387785dd3f8956" title="Set the bounds of this state space. This defines the range of the space in which sampling is performe...">setBounds</a>(<span class="keyword">const</span> RealVectorBounds &amp;bounds);
<a name="l00119"></a>00119 
<a name="l00122"></a>00122             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#ab53c0ef2a517e34f4c387785dd3f8956" title="Set the bounds of this state space. This defines the range of the space in which sampling is performe...">setBounds</a>(<span class="keywordtype">double</span> low, <span class="keywordtype">double</span> high);
<a name="l00123"></a>00123 
<a name="l00125"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#aaa05e27e5e613958c89be71f3a2bd6a8">00125</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.">RealVectorBounds</a>&amp; <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#aaa05e27e5e613958c89be71f3a2bd6a8" title="Get the bounds for this state space.">getBounds</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00126"></a>00126 <span class="keyword">            </span>{
<a name="l00127"></a>00127                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a09ec78ff21dcbec292a4694da8f8ab92" title="The bounds of the space (used for sampling)">bounds_</a>;
<a name="l00128"></a>00128             }
<a name="l00129"></a>00129 
<a name="l00130"></a>00130             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a415bba6e6653b33fdd531871e0199cb8" title="Get the dimension of the space (not the dimension of the surrounding ambient space)">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00131"></a>00131 
<a name="l00134"></a>00134             <span class="keyword">const</span> std::string&amp; <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#ae5112c5d1bfbe7d69094b71ead4f84ca" title="Each dimension can optionally have a name associated to it. If it does, this function returns that na...">getDimensionName</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;
<a name="l00135"></a>00135 
<a name="l00137"></a>00137             <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a3b43a37b02d3164f55581c4cda94fa00" title="Get the index of a specific dimension, by name. Return -1 if name is not found.">getDimensionIndex</a>(<span class="keyword">const</span> std::string &amp;name) <span class="keyword">const</span>;
<a name="l00138"></a>00138 
<a name="l00140"></a>00140             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a2d387a4a02fafea56315ddd449703847" title="Set the name of a dimension.">setDimensionName</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index, <span class="keyword">const</span> std::string &amp;name);
<a name="l00141"></a>00141 
<a name="l00142"></a>00142             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#af5a3758aabe1a915a64c99d7c93d692e" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">getMaximumExtent</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00143"></a>00143 
<a name="l00144"></a>00144             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#ae473cc4d0feaefb5e568578cd927d9b9" title="Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...">enforceBounds</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state) <span class="keyword">const</span>;
<a name="l00145"></a>00145 
<a name="l00146"></a>00146             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a8ea04b460df8e8cb638ced218fef71e0" title="Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...">satisfiesBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state) <span class="keyword">const</span>;
<a name="l00147"></a>00147 
<a name="l00148"></a>00148             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a2304bbddd850d5b10eaa70142547b67d" 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.">State</a> *destination, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *source) <span class="keyword">const</span>;
<a name="l00149"></a>00149 
<a name="l00150"></a>00150             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#ae9dba965480f0b4771455c79aae8a195" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">distance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state2) <span class="keyword">const</span>;
<a name="l00151"></a>00151 
<a name="l00152"></a>00152             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a7de4ee53afed57ec78012c764758274e" title="Checks whether two states are equal.">equalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state2) <span class="keyword">const</span>;
<a name="l00153"></a>00153 
<a name="l00154"></a>00154             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a5135607e2fedf624b07d5546f8fec2c5" title="Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...">interpolate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *to, <span class="keyword">const</span> <span class="keywordtype">double</span> t, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state) <span class="keyword">const</span>;
<a name="l00155"></a>00155 
<a name="l00156"></a>00156             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a741fcd3240ca1a34c80f0ea9f141e2e8" title="Allocate an instance of a uniform state sampler for this space.">allocStateSampler</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00157"></a>00157 
<a name="l00158"></a>00158             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a9d460e47e6636871542bdc4f4bc017e3" 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="l00159"></a>00159 
<a name="l00160"></a>00160             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#af2ed57519f3da6e87cd96d3c300336cb" 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.">State</a> *state) <span class="keyword">const</span>;
<a name="l00161"></a>00161 
<a name="l00162"></a>00162             <span class="keyword">virtual</span> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#aa263419b2d378049b3315286413d5a2f" title="Many states contain a number of double values. This function provides a means to get the memory addre...">getValueAddressAtIndex</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;
<a name="l00163"></a>00163 
<a name="l00164"></a>00164             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a2a3d613e6aef0a811f89bfae0ac3f181" title="Print a state to a stream.">printState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00165"></a>00165 
<a name="l00166"></a>00166             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a7297b3664373e5dbe9dea943f9a49bc4" title="Print the settings for this state space to a stream.">printSettings</a>(std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00167"></a>00167 
<a name="l00168"></a>00168             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#ae9578af74fb1deb62f2ac655e26bd89b" title="Register the projections for this state space. Usually, this is at least the default projection...">registerProjections</a>(<span class="keywordtype">void</span>);
<a name="l00169"></a>00169 
<a name="l00170"></a>00170             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a9b72767f319e1744a9860649dcb4950a" title="Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.">setup</a>(<span class="keywordtype">void</span>);
<a name="l00171"></a>00171 
<a name="l00172"></a>00172         <span class="keyword">protected</span>:
<a name="l00173"></a>00173 
<a name="l00175"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a1d187d416ce5c4d0bc101912e6e7ae7f">00175</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                        <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a1d187d416ce5c4d0bc101912e6e7ae7f" title="The dimension of the space.">dimension_</a>;
<a name="l00176"></a>00176 
<a name="l00178"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a09ec78ff21dcbec292a4694da8f8ab92">00178</a>             <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">RealVectorBounds</a>                    <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a09ec78ff21dcbec292a4694da8f8ab92" title="The bounds of the space (used for sampling)">bounds_</a>;
<a name="l00179"></a>00179 
<a name="l00181"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a58d503f751e68f0ae946b48b526444f4">00181</a>             std::vector&lt;std::string&gt;            <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#a58d503f751e68f0ae946b48b526444f4" title="Optional names for individual dimensions.">dimensionNames_</a>;
<a name="l00182"></a>00182 
<a name="l00184"></a><a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#abc8aaf3fdd92ce6d9006c1095deeb705">00184</a>             std::map&lt;std::string, unsigned int&gt; <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html#abc8aaf3fdd92ce6d9006c1095deeb705" title="Map from names to index values for dimensions.">dimensionIndex_</a>;
<a name="l00185"></a>00185 
<a name="l00186"></a>00186         <span class="keyword">private</span>:
<a name="l00187"></a>00187 
<a name="l00189"></a>00189             std::size_t                         stateBytes_;
<a name="l00190"></a>00190 
<a name="l00191"></a>00191         };
<a name="l00192"></a>00192     }
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194 
<a name="l00195"></a>00195 <span class="preprocessor">#endif</span>
</pre></div></div>
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