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<div class="title">StateSpace.h</div> </div>
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<div class="contents">
<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">* "AS IS" 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_STATE_SPACE_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_STATE_SPACE_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/base/State.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/base/StateSpaceTypes.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "ompl/base/StateSampler.h"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "ompl/base/ProjectionEvaluator.h"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "ompl/util/Console.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include "ompl/util/ClassForward.h"</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include <boost/concept_check.hpp></span>
<a name="l00047"></a>00047 <span class="preprocessor">#include <boost/noncopyable.hpp></span>
<a name="l00048"></a>00048 <span class="preprocessor">#include <iostream></span>
<a name="l00049"></a>00049 <span class="preprocessor">#include <vector></span>
<a name="l00050"></a>00050 <span class="preprocessor">#include <string></span>
<a name="l00051"></a>00051 <span class="preprocessor">#include <map></span>
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="keyword">namespace </span>ompl
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="keyword">namespace </span>base
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057
<a name="l00059"></a>00059 <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(StateSpace);
<a name="l00060"></a>00060
<a name="l00070"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html">00070</a> <span class="keyword">class </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> : <span class="keyword">private</span> boost::noncopyable
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 <span class="keyword">public</span>:
<a name="l00073"></a>00073
<a name="l00075"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1">00075</a> <span class="keyword">typedef</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_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">StateType</a>;
<a name="l00076"></a>00076
<a name="l00078"></a>00078 <a class="code" href="classompl_1_1base_1_1StateSpace.html#a59b001dad7dc63d37f63c78c04f1232d" title="Constructor. Assigns a unique name to the space.">StateSpace</a>(<span class="keywordtype">void</span>);
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="keyword">virtual</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>(<span class="keywordtype">void</span>);
<a name="l00081"></a>00081
<a name="l00083"></a>00083 <span class="keyword">template</span><<span class="keyword">class</span> T>
<a name="l00084"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a">00084</a> T* <a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a>(<span class="keywordtype">void</span>)
<a name="l00085"></a>00085 {
<a name="l00087"></a>00087 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, StateSpace*>));
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>T*<span class="keyword">></span>(<span class="keyword">this</span>);
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091
<a name="l00093"></a>00093 <span class="keyword">template</span><<span class="keyword">class</span> T>
<a name="l00094"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#a22a086b6c597e028d9ba48d2b530a3f2">00094</a> <span class="keyword">const</span> T* <a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00095"></a>00095 <span class="keyword"> </span>{
<a name="l00097"></a>00097 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, StateSpace*>));
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><span class="keyword">const </span>T*<span class="keyword">></span>(<span class="keyword">this</span>);
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101
<a name="l00106"></a>00106 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#af2876ac053f907e94f5b6d0df9719f1b" title="Check if the state space is compound.">isCompound</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00107"></a>00107
<a name="l00114"></a>00114 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a0ba7529960eb53ab38ce532236277baf" title="Check if the set of states is discrete.">isDiscrete</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00115"></a>00115
<a name="l00117"></a>00117 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a28d46d3774a6632735df7889f91fc257" title="Check if this is a hybrid state space (i.e., both discrete and continuous components exist)...">isHybrid</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00118"></a>00118
<a name="l00120"></a>00120 <span class="keyword">const</span> std::string& <a class="code" href="classompl_1_1base_1_1StateSpace.html#a90015676df178b4406a8ab8399f0624c" title="Get the name of the state space.">getName</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00121"></a>00121
<a name="l00123"></a>00123 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#ad12cc022ef531dcb563f6d3d13b847ad" title="Set the name of the state space.">setName</a>(<span class="keyword">const</span> std::string &name);
<a name="l00124"></a>00124
<a name="l00128"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#a0f90ce2fae9c951a1a322d7da4283a55">00128</a> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a0f90ce2fae9c951a1a322d7da4283a55" title="Get the type of the state space. The type can be used to verify whether two space instances are of th...">getType</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00129"></a>00129 <span class="keyword"> </span>{
<a name="l00130"></a>00130 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a68556edd816136a66a0d81544baef08c" title="A type assigned for this state space.">type_</a>;
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00134"></a>00134 <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#af294ec92dcc0e35793570d039d61d019" title="Return true if other is a space included (perhaps equal, perhaps a subspace) in this one...">includes</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &other) <span class="keyword">const</span>;
<a name="l00135"></a>00135
<a name="l00138"></a>00138 <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a41a2cdf29ab85faa2b76cca36c23229d" title="Return true if other is a space that is either included (perhaps equal, perhaps a subspace) in this o...">covers</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &other) <span class="keyword">const</span>;
<a name="l00139"></a>00139
<a name="l00146"></a>00146 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a4d929613e0cf9dcced2fbe2e88cb72ab" 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> = 0;
<a name="l00147"></a>00147
<a name="l00154"></a>00154 <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a46ed7d102b6a65a2e2a03e70c7464a37" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">getMaximumExtent</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;
<a name="l00155"></a>00155
<a name="l00158"></a>00158 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a7a52d4000174091df038c603078add78" 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> = 0;
<a name="l00159"></a>00159
<a name="l00162"></a>00162 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a07deb46127836f5795a8c0ceca1a1209" 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> = 0;
<a name="l00163"></a>00163
<a name="l00165"></a>00165 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#abff3478c3fc4da03c94d6f929f6ca7f9" 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> = 0;
<a name="l00166"></a>00166
<a name="l00169"></a>00169 <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#acb781becdcdf8770d61c218632c71bd5" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">distance</a>(<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> = 0;
<a name="l00170"></a>00170
<a name="l00182"></a>00182 <span class="keyword">virtual</span> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1base_1_1StateSpace.html#a8584afb9165d2aa7408fec81c18659f4" 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="l00183"></a>00183
<a name="l00189"></a>00189 <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#af5a789c55cf60407f1f015fc11ec7f57" title="When performing discrete validation of motions, the length of the longest segment that does not requi...">getLongestValidSegmentFraction</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00190"></a>00190
<a name="l00201"></a>00201 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#ad8e6450ad306d272df39751aa7e690b8" title="When performing discrete validation of motions, the length of the longest segment that does not requi...">setLongestValidSegmentFraction</a>(<span class="keywordtype">double</span> segmentFraction);
<a name="l00202"></a>00202
<a name="l00204"></a>00204 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a17443b992677f5043d3fc38e9288b9a7" title="Count how many segments of the "longest valid length" fit on the motion from state1 to state2...">validSegmentCount</a>(<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="l00205"></a>00205
<a name="l00212"></a>00212 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a9babd71497fc6a6f82fe97f699531ceb" title="Set factor to be the value to multiply the return value of validSegmentCount(). By default...">setValidSegmentCountFactor</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> factor);
<a name="l00213"></a>00213
<a name="l00215"></a>00215 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#ad310457600b4bad5b43cc28d3a835f41" title="Get the value used to multiply the return value of validSegmentCount().">getValidSegmentCountFactor</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00216"></a>00216
<a name="l00218"></a>00218 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a6babf3addb5ed9608800b7460a20da39" 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> = 0;
<a name="l00219"></a>00219
<a name="l00223"></a>00223 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a4220070a3365dd973e09c251f3381107" 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> = 0;
<a name="l00224"></a>00224
<a name="l00226"></a>00226 <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_1StateSpace.html#a345d227779a17370264430aa2958c055" title="Allocate an instance of a uniform state sampler for this space.">allocStateSampler</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;
<a name="l00227"></a>00227
<a name="l00229"></a>00229 <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_1StateSpace.html#a65ed00dd1909446bb79542c3670d6efd" 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> = 0;
<a name="l00230"></a>00230
<a name="l00232"></a>00232 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aeb75db7a7ef3d05f13632b7ccc67e6b9" 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> = 0;
<a name="l00233"></a>00233
<a name="l00241"></a>00241 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a309f2cdc5412ff16d31b87fec92b3595" title="Register a projection for this state space under a specified name.">registerProjection</a>(<span class="keyword">const</span> std::string &name, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">ProjectionEvaluatorPtr</a> &projection);
<a name="l00242"></a>00242
<a name="l00244"></a>00244 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#ac79f6342fb2d85f1c2c87bfff812fbbf" title="Register the default projection for this state space.">registerDefaultProjection</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">ProjectionEvaluatorPtr</a> &projection);
<a name="l00245"></a>00245
<a name="l00248"></a>00248 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a18363a441aa3ec273b5a32bb9f9f21f3" 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="l00249"></a>00249
<a name="l00251"></a>00251 <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">ProjectionEvaluatorPtr</a> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a05e75a507f6e8e538d1542bc9e31b256" title="Get the projection registered under a specific name.">getProjection</a>(<span class="keyword">const</span> std::string &name) <span class="keyword">const</span>;
<a name="l00252"></a>00252
<a name="l00254"></a>00254 <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">ProjectionEvaluatorPtr</a> <a class="code" href="classompl_1_1base_1_1StateSpace.html#adae69d06a2060e4e555e9e42453ca97d" title="Get the default projection.">getDefaultProjection</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00255"></a>00255
<a name="l00257"></a>00257 <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aade8b8097e7c5defa159797a80c2ebf2" title="Check if a projection with a specified name is available.">hasProjection</a>(<span class="keyword">const</span> std::string &name) <span class="keyword">const</span>;
<a name="l00258"></a>00258
<a name="l00260"></a>00260 <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a72ae78109f391727694c9f582a746e1b" title="Check if a default projection is available.">hasDefaultProjection</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00261"></a>00261
<a name="l00263"></a>00263 <span class="keyword">const</span> std::map<std::string, ProjectionEvaluatorPtr>& <a class="code" href="classompl_1_1base_1_1StateSpace.html#ad5b424bc0e9b65552442104372639a64" title="Get all the registered projections.">getRegisteredProjections</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00264"></a>00264
<a name="l00271"></a>00271 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a5f92fa826285aaa7adff4c1fd07a4023" 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 &out) <span class="keyword">const</span>;
<a name="l00272"></a>00272
<a name="l00274"></a>00274 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a0d78e50cceae2e0a432fea171a431324" title="Print the settings for this state space to a stream.">printSettings</a>(std::ostream &out) <span class="keyword">const</span>;
<a name="l00275"></a>00275
<a name="l00277"></a>00277 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a988d0d31d8cf99ca55e83d83be778918" title="Print the list of registered projections. This function is also called by printSettings()">printProjections</a>(std::ostream &out) <span class="keyword">const</span>;
<a name="l00278"></a>00278
<a name="l00281"></a>00281 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a8e7d1bb109cf5fccbd537722ca5e6761" title="Perform sanity checks for this state space. Throws an exception if failures are found.">sanityChecks</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00282"></a>00282
<a name="l00284"></a>00284 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a925ed4f0e97f137b4c2128afe9f36b2f" title="Print a Graphviz digraph that represents the containment diagram for all the instantiated state space...">Diagram</a>(std::ostream &out);
<a name="l00285"></a>00285
<a name="l00293"></a>00293 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109" title="Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.">setup</a>(<span class="keywordtype">void</span>);
<a name="l00294"></a>00294
<a name="l00295"></a>00295 <span class="keyword">protected</span>:
<a name="l00296"></a>00296
<a name="l00298"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#a45e65cf86a2c5cb1e4394dd8aafb4d3b">00298</a> <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code" href="classompl_1_1base_1_1StateSpace.html#a45e65cf86a2c5cb1e4394dd8aafb4d3b" title="The name used for the default projection.">DEFAULT_PROJECTION_NAME</a>;
<a name="l00299"></a>00299
<a name="l00301"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#a68556edd816136a66a0d81544baef08c">00301</a> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a68556edd816136a66a0d81544baef08c" title="A type assigned for this state space.">type_</a>;
<a name="l00302"></a>00302
<a name="l00304"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#af139d63d7b1067a70cb6e744e85fef96">00304</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#af139d63d7b1067a70cb6e744e85fef96" title="The extent of this space at the time setup() was called.">maxExtent_</a>;
<a name="l00305"></a>00305
<a name="l00307"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#aeaba86765fbfc6686312e50934edfd70">00307</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aeaba86765fbfc6686312e50934edfd70" title="The fraction of the longest valid segment.">longestValidSegmentFraction_</a>;
<a name="l00308"></a>00308
<a name="l00310"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#a8967afde4dc99333aef63eb85554bf81">00310</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a8967afde4dc99333aef63eb85554bf81" title="The longest valid segment at the time setup() was called.">longestValidSegment_</a>;
<a name="l00311"></a>00311
<a name="l00313"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#aa3fbdc24d4e07283890eb68f49bc1467">00313</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa3fbdc24d4e07283890eb68f49bc1467" title="The factor to multiply the value returned by validSegmentCount()">longestValidSegmentCountFactor_</a>;
<a name="l00314"></a>00314
<a name="l00316"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#aaad59b5cd0da08195dd066485e6fa946">00316</a> <a class="code" href="classompl_1_1msg_1_1Interface.html" title="The piece of code that desires interaction with an action or an output handler should use an instance...">msg::Interface</a> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aaad59b5cd0da08195dd066485e6fa946" title="Interface used for console output.">msg_</a>;
<a name="l00317"></a>00317
<a name="l00319"></a><a class="code" href="classompl_1_1base_1_1StateSpace.html#ab32be9ff082fcb2926cbc8166613e09a">00319</a> std::map<std::string, ProjectionEvaluatorPtr> <a class="code" href="classompl_1_1base_1_1StateSpace.html#ab32be9ff082fcb2926cbc8166613e09a" title="List of available projections.">projections_</a>;
<a name="l00320"></a>00320
<a name="l00321"></a>00321 <span class="keyword">private</span>:
<a name="l00322"></a>00322
<a name="l00324"></a>00324 std::string name_;
<a name="l00325"></a>00325 };
<a name="l00326"></a>00326
<a name="l00328"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html">00328</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">CompoundStateSpace</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="l00329"></a>00329 {
<a name="l00330"></a>00330 <span class="keyword">public</span>:
<a name="l00331"></a>00331
<a name="l00333"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5">00333</a> <span class="keyword">typedef</span> <a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">CompoundState</a> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">StateType</a>;
<a name="l00334"></a>00334
<a name="l00336"></a>00336 <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a43fcd7596d5bd743c05a9142e7405bb9" title="Construct an empty compound state space.">CompoundStateSpace</a>(<span class="keywordtype">void</span>);
<a name="l00337"></a>00337
<a name="l00339"></a>00339 <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a43fcd7596d5bd743c05a9142e7405bb9" title="Construct an empty compound state space.">CompoundStateSpace</a>(<span class="keyword">const</span> std::vector<StateSpacePtr> &components, <span class="keyword">const</span> std::vector<double> &weights);
<a name="l00340"></a>00340
<a name="l00341"></a>00341 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">CompoundStateSpace</a>(<span class="keywordtype">void</span>)
<a name="l00342"></a>00342 {
<a name="l00343"></a>00343 }
<a name="l00344"></a>00344
<a name="l00346"></a>00346 <span class="keyword">template</span><<span class="keyword">class</span> T>
<a name="l00347"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#ad1c13850b6411d890860d6f5540ba976">00347</a> T* <a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00348"></a>00348 <span class="keyword"> </span>{
<a name="l00350"></a>00350 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, StateSpace*>));
<a name="l00351"></a>00351
<a name="l00352"></a>00352 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>T*<span class="keyword">></span>(<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a6b39c8d168cc33fde93263e20544f258" title="Get a specific subspace from the compound state space.">getSubSpace</a>(index).get());
<a name="l00353"></a>00353 }
<a name="l00354"></a>00354
<a name="l00356"></a>00356 <span class="keyword">template</span><<span class="keyword">class</span> T>
<a name="l00357"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a3d8b629dd3a95dfddb4402a3ee17ab23">00357</a> T* <a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a>(<span class="keyword">const</span> std::string &name)<span class="keyword"> const</span>
<a name="l00358"></a>00358 <span class="keyword"> </span>{
<a name="l00360"></a>00360 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, StateSpace*>));
<a name="l00361"></a>00361
<a name="l00362"></a>00362 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>T*<span class="keyword">></span>(<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a6b39c8d168cc33fde93263e20544f258" title="Get a specific subspace from the compound state space.">getSubSpace</a>(name).get());
<a name="l00363"></a>00363 }
<a name="l00364"></a>00364
<a name="l00365"></a>00365 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a2b2134589bd8224a23c02602b8440ee2" title="Check if the state space is compound.">isCompound</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00366"></a>00366
<a name="l00367"></a>00367 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#aabe662bef58276a2576610ec986c3c64" title="Check if this is a hybrid state space (i.e., both discrete and continuous components exist)...">isHybrid</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00368"></a>00368
<a name="l00374"></a>00374 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#aba4aafa2e39b134bf55c5a2ba17d29af" title="Adds a new state space as part of the compound state space. For computing distances within the compou...">addSubSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &component, <span class="keywordtype">double</span> weight);
<a name="l00375"></a>00375
<a name="l00377"></a>00377 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#aa721e2f6acea876a8f099d2548ddd502" title="Get the number of state spaces that make up the compound state space.">getSubSpaceCount</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00378"></a>00378
<a name="l00380"></a>00380 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a>& <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a6b39c8d168cc33fde93263e20544f258" title="Get a specific subspace from the compound state space.">getSubSpace</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;
<a name="l00381"></a>00381
<a name="l00383"></a>00383 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a>& <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a6b39c8d168cc33fde93263e20544f258" title="Get a specific subspace from the compound state space.">getSubSpace</a>(<span class="keyword">const</span> std::string& name) <span class="keyword">const</span>;
<a name="l00384"></a>00384
<a name="l00386"></a>00386 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a70b32e56e81f9a115bfa21d9a457a219" title="Get the index of a specific subspace from the compound state space.">getSubSpaceIndex</a>(<span class="keyword">const</span> std::string& name) <span class="keyword">const</span>;
<a name="l00387"></a>00387
<a name="l00389"></a>00389 <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a549962d6cc1b693d477a03be14c40e20" title="Check if a specific subspace is contained in this state space.">hasSubSpace</a>(<span class="keyword">const</span> std::string &name) <span class="keyword">const</span>;
<a name="l00390"></a>00390
<a name="l00392"></a>00392 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#ad4ba7cf6b02982be877b184ac605cef4" title="Get the weight of a subspace from the compound state space (used in distance computation)">getSubSpaceWeight</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;
<a name="l00393"></a>00393
<a name="l00395"></a>00395 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#ad4ba7cf6b02982be877b184ac605cef4" title="Get the weight of a subspace from the compound state space (used in distance computation)">getSubSpaceWeight</a>(<span class="keyword">const</span> std::string &name) <span class="keyword">const</span>;
<a name="l00396"></a>00396
<a name="l00398"></a>00398 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a9a0b91b7687d5c920da4e7e22dde78ad" title="Set the weight of a subspace in the compound state space (used in distance computation)">setSubSpaceWeight</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index, <span class="keywordtype">double</span> weight);
<a name="l00399"></a>00399
<a name="l00401"></a>00401 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a9a0b91b7687d5c920da4e7e22dde78ad" title="Set the weight of a subspace in the compound state space (used in distance computation)">setSubSpaceWeight</a>(<span class="keyword">const</span> std::string &name, <span class="keywordtype">double</span> weight);
<a name="l00402"></a>00402
<a name="l00404"></a>00404 <span class="keyword">const</span> std::vector<StateSpacePtr>& <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a68e5c2ffbeb22a2b637dec2489dd09e0" title="Get the list of components.">getSubSpaces</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00405"></a>00405
<a name="l00407"></a>00407 <span class="keyword">const</span> std::vector<double>& <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a609e33e2d2d29aa0c8b7c4a7404b3103" title="Get the list of component weights.">getSubSpaceWeights</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00408"></a>00408
<a name="l00412"></a>00412 <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a1515cf17375f4985c3567b4bd00afadd" title="Return true if the state space is locked. A value of true means that no further spaces can be added a...">isLocked</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00413"></a>00413
<a name="l00419"></a>00419 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a40684ad7c0a264f4061b088cb414e162" 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="l00420"></a>00420
<a name="l00421"></a>00421 <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a70ff28c17797dc5aa6e56f25034410c7" 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="l00422"></a>00422
<a name="l00423"></a>00423 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a894235af9908df797d88f0df6e81b8d1" 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="l00424"></a>00424
<a name="l00425"></a>00425 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a9774b49bc4ac4bcb6aed4f6a99454385" 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="l00426"></a>00426
<a name="l00427"></a>00427 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a4dbc38743832260896d42d89e0b3feec" 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="l00428"></a>00428
<a name="l00429"></a>00429 <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a3f3a7c201f2deb0e8f4c5d3be02300eb" 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="l00430"></a>00430
<a name="l00436"></a>00436 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#ac07e99d9d6749436e4e3549023ae96fe" title="When performing discrete validation of motions, the length of the longest segment that does not requi...">setLongestValidSegmentFraction</a>(<span class="keywordtype">double</span> segmentFraction);
<a name="l00437"></a>00437
<a name="l00440"></a>00440 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#adc9e674f7301a307b1a547d9548b542f" title="Count how many segments of the "longest valid length" fit on the motion from state1 to state2...">validSegmentCount</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="l00441"></a>00441
<a name="l00442"></a>00442 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a382c3d7ac348ae7ea9ef6f8a4284d8f9" 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="l00443"></a>00443
<a name="l00444"></a>00444 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a734abdd06f902b42adf134f52359a3f9" 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="l00445"></a>00445
<a name="l00446"></a>00446 <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_1CompoundStateSpace.html#acb3b812d5dc49953993f1f08a2cdd6c8" 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="l00447"></a>00447
<a name="l00448"></a>00448 <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_1CompoundStateSpace.html#a2b70c7adffb92a2a23c50a2c0937010e" 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="l00449"></a>00449
<a name="l00450"></a>00450 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a891f9acb430b0486043efd4be95776bd" 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="l00451"></a>00451
<a name="l00452"></a>00452 <span class="keyword">virtual</span> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a88d40189fcde811ba620ebc96af33901" 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="l00453"></a>00453
<a name="l00456"></a>00456 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#aba02f1cf2c9b0f885fb7331ef2c4a8f6" 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 &out) <span class="keyword">const</span>;
<a name="l00457"></a>00457
<a name="l00458"></a>00458 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#ac58df4b2dafa03e935e260c2f9ba5fc9" title="Print the settings for this state space to a stream.">printSettings</a>(std::ostream &out) <span class="keyword">const</span>;
<a name="l00459"></a>00459
<a name="l00460"></a>00460 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af1ae2ce741021ce9d6eb40bc288fb702" 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="l00461"></a>00461
<a name="l00467"></a>00467 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a7aca5d3cfc2ae6bc5b2543a88ef5cb9c" title="Lock this state space. This means no further spaces can be added as components. This function can be ...">lock</a>(<span class="keywordtype">void</span>);
<a name="l00468"></a>00468
<a name="l00469"></a>00469 <span class="keyword">protected</span>:
<a name="l00470"></a>00470
<a name="l00472"></a>00472 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a1486c4680ec6e01c579fba2b3614d137" title="Allocate the state components. Called by allocState(). Usually called by derived state spaces...">allocStateComponents</a>(<a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">CompoundState</a> *state) <span class="keyword">const</span>;
<a name="l00473"></a>00473
<a name="l00475"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#ae5f43ed0a30998604b18f50b007455b4">00475</a> std::vector<StateSpacePtr> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#ae5f43ed0a30998604b18f50b007455b4" title="The state spaces that make up the compound state space.">components_</a>;
<a name="l00476"></a>00476
<a name="l00478"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a8c53501d4730a16782ad9619e8423d15">00478</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a8c53501d4730a16782ad9619e8423d15" title="The number of components.">componentCount_</a>;
<a name="l00479"></a>00479
<a name="l00481"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#adbbc7fd19539c47056f3395a39d2ef67">00481</a> std::vector<double> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#adbbc7fd19539c47056f3395a39d2ef67" title="The weight assigned to each component of the state space when computing the compound distance...">weights_</a>;
<a name="l00482"></a>00482
<a name="l00484"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a4ed84298425b21e1d2b120a85c124427">00484</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a4ed84298425b21e1d2b120a85c124427" title="Flag indicating whether adding further components is allowed or not.">locked_</a>;
<a name="l00485"></a>00485
<a name="l00486"></a>00486 };
<a name="l00487"></a>00487
<a name="l00500"></a>00500 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> <a class="code" href="group__stateAndSpaceOperators.html#ga1a2a068c3ba88614e32425cf4c493261" title="Construct a compound state space from two existing state spaces. The components of this compound spac...">operator+</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &a, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &b);
<a name="l00501"></a>00501
<a name="l00508"></a>00508 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> <a class="code" href="group__stateAndSpaceOperators.html#ga849c861f1e209144fbab68a95c479eb8" title="Construct a compound state space that contains subspaces only from a. If a is compound, b (or the components from b, if b 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.">operator-</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &a, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &b);
<a name="l00509"></a>00509
<a name="l00512"></a>00512 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> <a class="code" href="group__stateAndSpaceOperators.html#ga849c861f1e209144fbab68a95c479eb8" title="Construct a compound state space that contains subspaces only from a. If a is compound, b (or the components from b, if b 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.">operator-</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &a, <span class="keyword">const</span> std::string &name);
<a name="l00513"></a>00513
<a name="l00516"></a>00516 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> <a class="code" href="group__stateAndSpaceOperators.html#ga16229a85742bb392d45ea9fdc49d7434" title="Construct a compound state space that contains subspaces that are in both a and b.">operator*</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &a, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &b);
<a name="l00527"></a>00527 <span class="keywordtype">int</span> <a class="code" href="namespaceompl_1_1base.html#a28f47f0634ddee5c73674b5e0fb2d9aa" title="Copy data from source (state from space sourceS) to dest (state from space destS) on a component by c...">copyStateData</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &destS, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *dest,
<a name="l00528"></a>00528 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &sourceS, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *source);
<a name="l00529"></a>00529 }
<a name="l00530"></a>00530 }
<a name="l00531"></a>00531
<a name="l00532"></a>00532 <span class="preprocessor">#endif</span>
</pre></div></div>
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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>
<div class="gray">Generated on Sun Oct 9 2011 23:04:39 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
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