<!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: Available Spaces</title> <meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. 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The distance function is the L2 norm.">ompl::base::RealVectorStateSpace</a>),</li> <li>SO(2) (rotation in the plane, <a class="el" href="classompl_1_1base_1_1SO2StateSpace.html" title="A state space representing SO(2). The distance function and interpolation take into account angle wra...">ompl::base::SO2StateSpace</a>),</li> <li>SO(3) (rotation in 3D, <a class="el" href="classompl_1_1base_1_1SO3StateSpace.html" title="A state space representing SO(3). The internal representation is done with quaternions. The distance between states is the angle between quaternions and interpolation is done with slerp.">ompl::base::SO3StateSpace</a>),</li> <li>SE(2) (rotation and translation in the plane, <a class="el" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">ompl::base::SE2StateSpace</a>),</li> <li>SE(3) (rotation and translation in 3D, <a class="el" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">ompl::base::SE3StateSpace</a>),</li> <li>Time (representation of time, <a class="el" href="classompl_1_1base_1_1TimeStateSpace.html" title="A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...">ompl::base::TimeStateSpace</a>) and</li> <li>ODE (representation of ODE states, if the <a href="http://sourceforge.net/projects/opende/">Open Dynamics Engine</a> library is available, <a class="el" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ompl::control::ODEStateSpace</a>).</li> </ul> <p>In addition, the <a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">ompl::base::CompoundStateSpace</a> allows users to create arbitrarily complex state spaces out of simpler state spaces.</p> <h2><a class="anchor" id="control_spaces"></a> Control Spaces</h2> <p>This set of control spaces included in in OMPL:</p> <ul> <li>R<sup>n</sup> (<a class="el" href="classompl_1_1control_1_1RealVectorControlSpace.html" title="A control space representing Rn. The distance function is the L2 norm.">ompl::control::RealVectorControlSpace</a>). This is still an abstract class that requires the implementation of ompl::control::ControlSpace::propagate().</li> <li>ODE (<a class="el" href="classompl_1_1control_1_1ODEControlSpace.html" title="Representation of controls applied in ODE environments. This is an array of double values...">ompl::control::ODEControlSpace</a>). This is an extension that is built only if the <a href="http://sourceforge.net/projects/opende/">Open Dynamics Engine</a> library is detected.</li> </ul> </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"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </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> • <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 23:04:41 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>