Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > e7618febbb9cbed15bb79e326774c050 > files > 276

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

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: src/ompl/base/spaces/TimeStateSpace.h Source File</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
  var _gaq = _gaq || [];
  _gaq.push(['_setAccount', 'UA-9156598-2']);
  _gaq.push(['_trackPageview']);
  (function() {
    var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
    ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
    var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
  })();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
  <div class="tabs" id="ompltitle">
    <ul class="tablist">
      <li>The Open Motion Planning Library</li>
      <li id="searchli">
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search API" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)"
               onblur="searchBox.OnSearchFieldFocus(false)"
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>

  <ul id="nav" class="dropdown">
    <li class="first"><a href="index.html">Home</a></li>
    <li><a href="download.html">Download</a></li>
    <li><a href="documentation.html">Documentation</a></li>
    <li><span class="dir">Code API</span>
      <ul>
        <li><a href="api_overview.html">API Overview</a></li>
        <li><a href="namespaces.html">Namespaces</a></li>
        <li><a href="annotated.html">Classes</a></li>
        <li><a href="files.html">Files</a></li>
        <li><a href="dirs.html">Directories</a></li>
      </ul>
    </li>
    <li><span class="dir">Community</span>
      <ul>
        <li><a href="developers.html">Developers</a></li>
        <li><a href="thirdparty.html">Contributions</a></li>
        <li><a href="education.html">Education</a></li>
        <li><a href="gallery.html">Gallery</a></li>
      </ul>
    </li>
    <li><span class="dir">About</span>
      <ul>
        <li><a href="license.html">License</a></li>
        <li><a href="citations.html">Citations</a></li>
        <li><a href="acknowledgements.html">Acknowledgments</a></li>
        <li><a href="contact.html">Contact Us</a></li>
      </ul>
    </li>
  </ul>
</div>

<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
  onmouseover="return searchBox.OnSearchSelectShow()"
  onmouseout="return searchBox.OnSearchSelectHide()"
  onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
  <iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>

<div class="container">
  <div class="span-22 push-2 first last">
  <div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
  <div id="nav-path" class="navpath">
    <ul>
      <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a>      </li>
      <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a>      </li>
      <li class="navelem"><a class="el" href="dir_40bc83a902349ad67ef9d1cb49964511.html">base</a>      </li>
      <li class="navelem"><a class="el" href="dir_7f116b207a3e42501f874f0585585053.html">spaces</a>      </li>
    </ul>
  </div>
</div>
<div class="header">
  <div class="headertitle">
<div class="title">TimeStateSpace.h</div>  </div>
</div>
<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">*  &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_TIME_STATE_SPACE_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_SPACES_TIME_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 
<a name="l00042"></a>00042 <span class="keyword">namespace </span>ompl
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044     <span class="keyword">namespace </span>base
<a name="l00045"></a>00045     {
<a name="l00046"></a>00046 
<a name="l00048"></a><a class="code" href="classompl_1_1base_1_1TimeStateSampler.html">00048</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1TimeStateSampler.html" title="State space sampler for time.">TimeStateSampler</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="l00049"></a>00049         {
<a name="l00050"></a>00050         <span class="keyword">public</span>:
<a name="l00051"></a>00051 
<a name="l00053"></a><a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#aa9f1631dc3d71d96493070ecd90a8fc8">00053</a>             <a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#aa9f1631dc3d71d96493070ecd90a8fc8" title="COnstructor.">TimeStateSampler</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="l00054"></a>00054             {
<a name="l00055"></a>00055             }
<a name="l00056"></a>00056 
<a name="l00057"></a>00057             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#ad408d7220cb81899acc17e51fb85c6f7" 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="l00058"></a>00058             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#ae5ced5a19e9743283fe3f89cd82c047c" 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="l00059"></a>00059             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSampler.html#a7ea58f50c7bdc1f1c847885ac0d850cf" 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="l00060"></a>00060         };
<a name="l00061"></a>00061 
<a name="l00071"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html">00071</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</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="l00072"></a>00072         {
<a name="l00073"></a>00073         <span class="keyword">public</span>:
<a name="l00074"></a>00074 
<a name="l00076"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html">00076</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html" title="The definition of a time state.">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="l00077"></a>00077             {
<a name="l00078"></a>00078             <span class="keyword">public</span>:
<a name="l00079"></a>00079 
<a name="l00081"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca">00081</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html#ae9e66e0d2dd7ee6aec6442cbd6c147ca" title="The position in time.">position</a>;
<a name="l00082"></a>00082             };
<a name="l00083"></a>00083 
<a name="l00084"></a>00084             <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</a>(<span class="keywordtype">void</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 class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a3db8870edad098617d42451c82d08246" title="Flag indicating whether the state space is considering bounds or not.">bounded_</a>(false), <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a73663499e3657506e3f76d8979ed4cbd" title="The minimum point in time considered by the state space (if bounds are used)">minTime_</a>(0.0), <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a40cc110f6c4295f575a33cbc27c96eba" title="The maximum point in time considered by the state space (if bounds are used)">maxTime_</a>(0.0)
<a name="l00085"></a>00085             {
<a name="l00086"></a>00086                 <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;Time&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="l00087"></a>00087                 <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#a056b022e14fe04a75f81789947353920afc515ecf796d311c9ae7ae879fb63158" title="ompl::base::TimeStateSpace">STATE_SPACE_TIME</a>;
<a name="l00088"></a>00088             }
<a name="l00089"></a>00089 
<a name="l00090"></a>00090             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">TimeStateSpace</a>(<span class="keywordtype">void</span>)
<a name="l00091"></a>00091             {
<a name="l00092"></a>00092             }
<a name="l00093"></a>00093 
<a name="l00094"></a>00094             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#aa4d3b395d10a2c0738a75cc4c86587ee" 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="l00095"></a>00095 
<a name="l00096"></a>00096             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a8ec7091055790c74a37d0657fcf50a9b" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">getMaximumExtent</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00097"></a>00097 
<a name="l00104"></a>00104             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a3c51355b0e7e620ba7da19c85cac93ee" title="Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...">setBounds</a>(<span class="keywordtype">double</span> minTime, <span class="keywordtype">double</span> maxTime);
<a name="l00105"></a>00105 
<a name="l00107"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#afeecf40e6a375dd28ff383d3c31aa236">00107</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#afeecf40e6a375dd28ff383d3c31aa236" title="Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...">getMinTimeBound</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00108"></a>00108 <span class="keyword">            </span>{
<a name="l00109"></a>00109                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a73663499e3657506e3f76d8979ed4cbd" title="The minimum point in time considered by the state space (if bounds are used)">minTime_</a>;
<a name="l00110"></a>00110             }
<a name="l00111"></a>00111 
<a name="l00113"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a2e319f80c2bf7d1d83a278007569d11b">00113</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a2e319f80c2bf7d1d83a278007569d11b" title="Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded...">getMaxTimeBound</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00114"></a>00114 <span class="keyword">            </span>{
<a name="l00115"></a>00115                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a40cc110f6c4295f575a33cbc27c96eba" title="The maximum point in time considered by the state space (if bounds are used)">maxTime_</a>;
<a name="l00116"></a>00116             }
<a name="l00117"></a>00117 
<a name="l00119"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a9f02b882da1a3598743e4bad0d8d542e">00119</a>             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a9f02b882da1a3598743e4bad0d8d542e" title="Check if the time is bounded or not.">isBounded</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00120"></a>00120 <span class="keyword">            </span>{
<a name="l00121"></a>00121                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a3db8870edad098617d42451c82d08246" title="Flag indicating whether the state space is considering bounds or not.">bounded_</a>;
<a name="l00122"></a>00122             }
<a name="l00123"></a>00123 
<a name="l00124"></a>00124             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#ae7b9f46ae062b26b9addb4504be6d7f9" title="Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...">enforceBounds</a>(<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="l00125"></a>00125 
<a name="l00126"></a>00126             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a91ff776b4e89de630adaf1225864010c" title="Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...">satisfiesBounds</a>(<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="l00127"></a>00127 
<a name="l00128"></a>00128             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a9b9515b09b9468cbbb066966a8536b95" 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="l00129"></a>00129 
<a name="l00130"></a>00130             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a0beadc19acae61a5d3ffd7a0bdef4a97" 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="l00131"></a>00131 
<a name="l00132"></a>00132             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a61068ae7583855daa875967cd1dd754a" 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="l00133"></a>00133 
<a name="l00134"></a>00134             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a0ac7e7a5df135b960417b41943d10c4a" 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="l00135"></a>00135 
<a name="l00136"></a>00136             <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_1TimeStateSpace.html#a5e59d699cdc468c0488281800b276992" 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="l00137"></a>00137 
<a name="l00138"></a>00138             <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_1TimeStateSpace.html#aa25e567f290890387fff121fad0ade7c" 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="l00139"></a>00139 
<a name="l00140"></a>00140             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#ac7c2385bce5f29772fbdbf1ff8d1d962" 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="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_1TimeStateSpace.html#af90393504dc7f6a8f7eb335aadc6d590" 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="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_1TimeStateSpace.html#ac9c9e77094d2c0622912064e5afd11de" 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="l00145"></a>00145 
<a name="l00146"></a>00146             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#aaffe60cdcb2253b38666ce35538a5250" title="Print the settings for this state space to a stream.">printSettings</a>(std::ostream &amp;out) <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_1TimeStateSpace.html#a39bdcea5c39ae917cf3ca0d6d86276e1" 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="l00149"></a>00149 
<a name="l00150"></a>00150         <span class="keyword">protected</span>:
<a name="l00151"></a>00151 
<a name="l00153"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a3db8870edad098617d42451c82d08246">00153</a>             <span class="keywordtype">bool</span>   <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a3db8870edad098617d42451c82d08246" title="Flag indicating whether the state space is considering bounds or not.">bounded_</a>;
<a name="l00154"></a>00154 
<a name="l00156"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a73663499e3657506e3f76d8979ed4cbd">00156</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a73663499e3657506e3f76d8979ed4cbd" title="The minimum point in time considered by the state space (if bounds are used)">minTime_</a>;
<a name="l00157"></a>00157 
<a name="l00159"></a><a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a40cc110f6c4295f575a33cbc27c96eba">00159</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1TimeStateSpace.html#a40cc110f6c4295f575a33cbc27c96eba" title="The maximum point in time considered by the state space (if bounds are used)">maxTime_</a>;
<a name="l00160"></a>00160 
<a name="l00161"></a>00161         };
<a name="l00162"></a>00162     }
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164 
<a name="l00165"></a>00165 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

</div>

<div class="footer span-22 push-2 last">
  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
  <a href="http://www.cs.rice.edu">Department of Computer Science</a> &bull;
  <a href="http://www.rice.edu">Rice University</a><br>
  <div class="gray">Generated on Sun Oct 9 2011 23:04:39 by&#160;<a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>

Perl :: Catalyst :: PostgreSQL :: RPM Valid HTML 4.01 Transitional