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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="namespaceompl_1_1base.html">base</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html">CompoundStateSpace</a> </li>
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<a href="#pub-types">Public Types</a> |
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<div class="title">ompl::base::CompoundStateSpace Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::CompoundStateSpace" --><!-- doxytag: inherits="ompl::base::StateSpace" -->
<p>A space to allow the composition of state spaces.
<a href="classompl_1_1base_1_1CompoundStateSpace.html#details">More...</a></p>
<p><code>#include <<a class="el" href="StateSpace_8h_source.html">StateSpace.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::CompoundStateSpace:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1CompoundStateSpace__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1CompoundStateSpace_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1CompoundStateSpace_inherit__map" id="ompl_1_1base_1_1CompoundStateSpace_inherit__map">
<area shape="rect" id="node5" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)" alt="" coords="5,160,192,189"/><area shape="rect" id="node7" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)" alt="" coords="216,160,403,189"/><area shape="rect" id="node9" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states." alt="" coords="427,160,629,189"/><area shape="rect" id="node2" 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." alt="" coords="228,5,391,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1CompoundStateSpace-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af12997f7c56f7263fb78be7444b838e5"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::StateType" ref="af12997f7c56f7263fb78be7444b838e5" args="" -->
typedef <a class="el" href="classompl_1_1base_1_1CompoundState.html">CompoundState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5">StateType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Define the type of state allocated by this state space. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a43fcd7596d5bd743c05a9142e7405bb9"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::CompoundStateSpace" ref="a43fcd7596d5bd743c05a9142e7405bb9" args="(void)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a43fcd7596d5bd743c05a9142e7405bb9">CompoundStateSpace</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct an empty compound state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a813ec9cca9b410654350c8125892c5b2"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::CompoundStateSpace" ref="a813ec9cca9b410654350c8125892c5b2" args="(const std::vector< StateSpacePtr > &components, const std::vector< double > &weights)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a813ec9cca9b410654350c8125892c5b2">CompoundStateSpace</a> (const std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> > &components, const std::vector< double > &weights)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct a compound state space from a list of subspaces (<em>components</em>) and their corresponding weights (<em>weights</em>) <br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#ad1c13850b6411d890860d6f5540ba976">as</a> (const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast a component of this instance to a desired type. <a href="#ad1c13850b6411d890860d6f5540ba976"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a3d8b629dd3a95dfddb4402a3ee17ab23">as</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cast a component of this instance to a desired type. <a href="#a3d8b629dd3a95dfddb4402a3ee17ab23"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2b2134589bd8224a23c02602b8440ee2"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::isCompound" ref="a2b2134589bd8224a23c02602b8440ee2" args="(void) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a2b2134589bd8224a23c02602b8440ee2">isCompound</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if the state space is compound. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aabe662bef58276a2576610ec986c3c64"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::isHybrid" ref="aabe662bef58276a2576610ec986c3c64" args="(void) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#aabe662bef58276a2576610ec986c3c64">isHybrid</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if this is a hybrid state space (i.e., both discrete and continuous components exist) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aba02f1cf2c9b0f885fb7331ef2c4a8f6"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::printState" ref="aba02f1cf2c9b0f885fb7331ef2c4a8f6" args="(const State *state, std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#aba02f1cf2c9b0f885fb7331ef2c4a8f6">printState</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, std::ostream &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print a state to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac58df4b2dafa03e935e260c2f9ba5fc9"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::printSettings" ref="ac58df4b2dafa03e935e260c2f9ba5fc9" args="(std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#ac58df4b2dafa03e935e260c2f9ba5fc9">printSettings</a> (std::ostream &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print the settings for this state space to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af1ae2ce741021ce9d6eb40bc288fb702"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::setup" ref="af1ae2ce741021ce9d6eb40bc288fb702" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#af1ae2ce741021ce9d6eb40bc288fb702">setup</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform final setup steps. This function is automatically called by the <a class="el" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a>. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7aca5d3cfc2ae6bc5b2543a88ef5cb9c"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::lock" ref="a7aca5d3cfc2ae6bc5b2543a88ef5cb9c" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a7aca5d3cfc2ae6bc5b2543a88ef5cb9c">lock</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Lock this state space. This means no further spaces can be added as components. This function can be for instance called from the constructor of a state space that inherits from <a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">CompoundStateSpace</a> to prevent the user to add further components. <br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Management of contained subspaces</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aba4aafa2e39b134bf55c5a2ba17d29af"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::addSubSpace" ref="aba4aafa2e39b134bf55c5a2ba17d29af" args="(const StateSpacePtr &component, double weight)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#aba4aafa2e39b134bf55c5a2ba17d29af">addSubSpace</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &component, double weight)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Adds a new state space as part of the compound state space. For computing distances within the compound state space, the weight of the component also needs to be specified. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa721e2f6acea876a8f099d2548ddd502"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getSubSpaceCount" ref="aa721e2f6acea876a8f099d2548ddd502" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#aa721e2f6acea876a8f099d2548ddd502">getSubSpaceCount</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of state spaces that make up the compound state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6b39c8d168cc33fde93263e20544f258"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getSubSpace" ref="a6b39c8d168cc33fde93263e20544f258" args="(const unsigned int index) const " -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a6b39c8d168cc33fde93263e20544f258">getSubSpace</a> (const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a specific subspace from the compound state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab963001ee41246e2519a82af61c3abe5"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getSubSpace" ref="ab963001ee41246e2519a82af61c3abe5" args="(const std::string &name) const " -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#ab963001ee41246e2519a82af61c3abe5">getSubSpace</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a specific subspace from the compound state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a70b32e56e81f9a115bfa21d9a457a219"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getSubSpaceIndex" ref="a70b32e56e81f9a115bfa21d9a457a219" args="(const std::string &name) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a70b32e56e81f9a115bfa21d9a457a219">getSubSpaceIndex</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the index of a specific subspace from the compound state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a549962d6cc1b693d477a03be14c40e20"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::hasSubSpace" ref="a549962d6cc1b693d477a03be14c40e20" args="(const std::string &name) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a549962d6cc1b693d477a03be14c40e20">hasSubSpace</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a specific subspace is contained in this state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad4ba7cf6b02982be877b184ac605cef4"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getSubSpaceWeight" ref="ad4ba7cf6b02982be877b184ac605cef4" args="(const unsigned int index) const " -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#ad4ba7cf6b02982be877b184ac605cef4">getSubSpaceWeight</a> (const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the weight of a subspace from the compound state space (used in distance computation) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a90fd8617431ddcc30a8c4597d3719a19"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getSubSpaceWeight" ref="a90fd8617431ddcc30a8c4597d3719a19" args="(const std::string &name) const " -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a90fd8617431ddcc30a8c4597d3719a19">getSubSpaceWeight</a> (const std::string &name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the weight of a subspace from the compound state space (used in distance computation) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9a0b91b7687d5c920da4e7e22dde78ad"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::setSubSpaceWeight" ref="a9a0b91b7687d5c920da4e7e22dde78ad" args="(const unsigned int index, double weight)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a9a0b91b7687d5c920da4e7e22dde78ad">setSubSpaceWeight</a> (const unsigned int index, double weight)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the weight of a subspace in the compound state space (used in distance computation) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a20ad33526273208fa9e2a4524d40ddb3"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::setSubSpaceWeight" ref="a20ad33526273208fa9e2a4524d40ddb3" args="(const std::string &name, double weight)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a20ad33526273208fa9e2a4524d40ddb3">setSubSpaceWeight</a> (const std::string &name, double weight)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the weight of a subspace in the compound state space (used in distance computation) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a68e5c2ffbeb22a2b637dec2489dd09e0"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getSubSpaces" ref="a68e5c2ffbeb22a2b637dec2489dd09e0" args="(void) const " -->
const std::vector<br class="typebreak"/>
< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a68e5c2ffbeb22a2b637dec2489dd09e0">getSubSpaces</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the list of components. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a609e33e2d2d29aa0c8b7c4a7404b3103"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getSubSpaceWeights" ref="a609e33e2d2d29aa0c8b7c4a7404b3103" args="(void) const " -->
const std::vector< double > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a609e33e2d2d29aa0c8b7c4a7404b3103">getSubSpaceWeights</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the list of component weights. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1515cf17375f4985c3567b4bd00afadd"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::isLocked" ref="a1515cf17375f4985c3567b4bd00afadd" args="(void) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a1515cf17375f4985c3567b4bd00afadd">isLocked</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if the state space is locked. A value of true means that no further spaces can be added as components. <br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Functionality specific to the state space</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a40684ad7c0a264f4061b088cb414e162"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getDimension" ref="a40684ad7c0a264f4061b088cb414e162" args="(void) const " -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a40684ad7c0a264f4061b088cb414e162">getDimension</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the dimension of the space (not the dimension of the surrounding ambient space) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a70ff28c17797dc5aa6e56f25034410c7">getMaximumExtent</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum value a call to <a class="el" 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> can return (or an upper bound). For unbounded state spaces, this function can return infinity. <a href="#a70ff28c17797dc5aa6e56f25034410c7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a894235af9908df797d88f0df6e81b8d1"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::enforceBounds" ref="a894235af9908df797d88f0df6e81b8d1" args="(State *state) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a894235af9908df797d88f0df6e81b8d1">enforceBounds</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9774b49bc4ac4bcb6aed4f6a99454385"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::satisfiesBounds" ref="a9774b49bc4ac4bcb6aed4f6a99454385" args="(const State *state) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a9774b49bc4ac4bcb6aed4f6a99454385">satisfiesBounds</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a state is inside the bounding box. For unbounded spaces this function can always return true. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4dbc38743832260896d42d89e0b3feec"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::copyState" ref="a4dbc38743832260896d42d89e0b3feec" args="(State *destination, const State *source) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a4dbc38743832260896d42d89e0b3feec">copyState</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *destination, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *source) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy a state to another. The memory of source and destination should NOT overlap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3f3a7c201f2deb0e8f4c5d3be02300eb"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::distance" ref="a3f3a7c201f2deb0e8f4c5d3be02300eb" args="(const State *state1, const State *state2) const " -->
virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a3f3a7c201f2deb0e8f4c5d3be02300eb">distance</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes distance to between two states. This function satisfies the properties of a metric and its return value will always be between 0 and <a class="el" 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> <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac07e99d9d6749436e4e3549023ae96fe"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::setLongestValidSegmentFraction" ref="ac07e99d9d6749436e4e3549023ae96fe" args="(double segmentFraction)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#ac07e99d9d6749436e4e3549023ae96fe">setLongestValidSegmentFraction</a> (double segmentFraction)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the space's maximum extent. The call is passed to all contained subspaces. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adc9e674f7301a307b1a547d9548b542f"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::validSegmentCount" ref="adc9e674f7301a307b1a547d9548b542f" args="(const State *state1, const State *state2) const " -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#adc9e674f7301a307b1a547d9548b542f">validSegmentCount</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Count how many segments of the "longest valid length" fit on the motion from <em>state1</em> to <em>state2</em>. This is the max() of the counts returned by contained subspaces. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a382c3d7ac348ae7ea9ef6f8a4284d8f9"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::equalStates" ref="a382c3d7ac348ae7ea9ef6f8a4284d8f9" args="(const State *state1, const State *state2) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a382c3d7ac348ae7ea9ef6f8a4284d8f9">equalStates</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks whether two states are equal. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a734abdd06f902b42adf134f52359a3f9"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::interpolate" ref="a734abdd06f902b42adf134f52359a3f9" args="(const State *from, const State *to, const double t, State *state) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a734abdd06f902b42adf134f52359a3f9">interpolate</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *from, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *to, const double t, <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the state that lies at time <em>t</em> in [0, 1] on the segment that connects <em>from</em> state to <em>to</em> state. The memory location of <em>state</em> is not required to be different from the memory of either <em>from</em> or <em>to</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acb3b812d5dc49953993f1f08a2cdd6c8"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::allocStateSampler" ref="acb3b812d5dc49953993f1f08a2cdd6c8" args="(void) const " -->
virtual <a class="el" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#acb3b812d5dc49953993f1f08a2cdd6c8">allocStateSampler</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate an instance of a uniform state sampler for this space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2b70c7adffb92a2a23c50a2c0937010e"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::allocState" ref="a2b70c7adffb92a2a23c50a2c0937010e" args="(void) const " -->
virtual <a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a2b70c7adffb92a2a23c50a2c0937010e">allocState</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate a state that can store a point in the described space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a891f9acb430b0486043efd4be95776bd"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::freeState" ref="a891f9acb430b0486043efd4be95776bd" args="(State *state) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a891f9acb430b0486043efd4be95776bd">freeState</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the memory of the allocated state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a88d40189fcde811ba620ebc96af33901">getValueAddressAtIndex</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Many states contain a number of double values. This function provides a means to get the memory address of a double value from state <em>state</em> located at position <em>index</em>. The first double value is returned for <em>index</em> = 0. If <em>index</em> is too large (does not point to any double values in the state), the return value is NULL. <a href="#a88d40189fcde811ba620ebc96af33901"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1486c4680ec6e01c579fba2b3614d137"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::allocStateComponents" ref="a1486c4680ec6e01c579fba2b3614d137" args="(CompoundState *state) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a1486c4680ec6e01c579fba2b3614d137">allocStateComponents</a> (<a class="el" href="classompl_1_1base_1_1CompoundState.html">CompoundState</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate the state components. Called by <a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a2b70c7adffb92a2a23c50a2c0937010e" title="Allocate a state that can store a point in the described space.">allocState()</a>. Usually called by derived state spaces. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae5f43ed0a30998604b18f50b007455b4"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::components_" ref="ae5f43ed0a30998604b18f50b007455b4" args="" -->
std::vector< <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#ae5f43ed0a30998604b18f50b007455b4">components_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The state spaces that make up the compound state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8c53501d4730a16782ad9619e8423d15"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::componentCount_" ref="a8c53501d4730a16782ad9619e8423d15" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a8c53501d4730a16782ad9619e8423d15">componentCount_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of components. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adbbc7fd19539c47056f3395a39d2ef67"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::weights_" ref="adbbc7fd19539c47056f3395a39d2ef67" args="" -->
std::vector< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#adbbc7fd19539c47056f3395a39d2ef67">weights_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The weight assigned to each component of the state space when computing the compound distance. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4ed84298425b21e1d2b120a85c124427"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::locked_" ref="a4ed84298425b21e1d2b120a85c124427" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSpace.html#a4ed84298425b21e1d2b120a85c124427">locked_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flag indicating whether adding further components is allowed or not. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A space to allow the composition of state spaces. </p>
<p>Definition at line <a class="el" href="StateSpace_8h_source.html#l00328">328</a> of file <a class="el" href="StateSpace_8h_source.html">StateSpace.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad1c13850b6411d890860d6f5540ba976"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::as" ref="ad1c13850b6411d890860d6f5540ba976" args="(const unsigned int index) const " -->
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template<class T > </div>
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<td class="memname">T* ompl::base::CompoundStateSpace::as </td>
<td>(</td>
<td class="paramtype">const unsigned int </td>
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<td> const<code> [inline]</code></td>
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<p>Cast a component of this instance to a desired type. </p>
<p><p>Make sure the type we are casting to is indeed a state space </p>
</p>
<p>Definition at line <a class="el" href="StateSpace_8h_source.html#l00347">347</a> of file <a class="el" href="StateSpace_8h_source.html">StateSpace.h</a>.</p>
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<a class="anchor" id="a3d8b629dd3a95dfddb4402a3ee17ab23"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::as" ref="a3d8b629dd3a95dfddb4402a3ee17ab23" args="(const std::string &name) const " -->
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template<class T > </div>
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<td class="memname">T* ompl::base::CompoundStateSpace::as </td>
<td>(</td>
<td class="paramtype">const std::string & </td>
<td class="paramname"><em>name</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Cast a component of this instance to a desired type. </p>
<p><p>Make sure the type we are casting to is indeed a state space </p>
</p>
<p>Definition at line <a class="el" href="StateSpace_8h_source.html#l00357">357</a> of file <a class="el" href="StateSpace_8h_source.html">StateSpace.h</a>.</p>
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<a class="anchor" id="a70ff28c17797dc5aa6e56f25034410c7"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getMaximumExtent" ref="a70ff28c17797dc5aa6e56f25034410c7" args="(void) const " -->
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<td class="memname">double ompl::base::CompoundStateSpace::getMaximumExtent </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
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<p>Get the maximum value a call to <a class="el" 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> can return (or an upper bound). For unbounded state spaces, this function can return infinity. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful. </dd></dl>
<p>Implements <a class="el" href="classompl_1_1base_1_1StateSpace.html#a46ed7d102b6a65a2e2a03e70c7464a37">ompl::base::StateSpace</a>.</p>
<p>Definition at line <a class="el" href="StateSpace_8cpp_source.html#l00546">546</a> of file <a class="el" href="StateSpace_8cpp_source.html">StateSpace.cpp</a>.</p>
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<a class="anchor" id="a88d40189fcde811ba620ebc96af33901"></a><!-- doxytag: member="ompl::base::CompoundStateSpace::getValueAddressAtIndex" ref="a88d40189fcde811ba620ebc96af33901" args="(State *state, const unsigned int index) const " -->
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<td class="memname">double * ompl::base::CompoundStateSpace::getValueAddressAtIndex </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>state</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>index</em> </td>
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<td></td>
<td>)</td>
<td></td><td> const<code> [virtual]</code></td>
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<div class="memdoc">
<p>Many states contain a number of double values. This function provides a means to get the memory address of a double value from state <em>state</em> located at position <em>index</em>. The first double value is returned for <em>index</em> = 0. If <em>index</em> is too large (does not point to any double values in the state), the return value is NULL. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This function does <b>not</b> map a state to an array of doubles. There may be components of a state that do not correspond to double values and they are 'invisible' to this function. Furthermore, this function is slow and is not intended for use in the implementation of planners. </dd></dl>
<p>Reimplemented from <a class="el" href="classompl_1_1base_1_1StateSpace.html#a8584afb9165d2aa7408fec81c18659f4">ompl::base::StateSpace</a>.</p>
<p>Definition at line <a class="el" href="StateSpace_8cpp_source.html#l00672">672</a> of file <a class="el" href="StateSpace_8cpp_source.html">StateSpace.cpp</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
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