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<title>OMPL: ompl::base::SE2StateSpace Class Reference</title>
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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_1SE2StateSpace.html">SE2StateSpace</a> </li>
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<div class="title">ompl::base::SE2StateSpace Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::SE2StateSpace" --><!-- doxytag: inherits="ompl::base::CompoundStateSpace" -->
<p>A state space representing SE(2)
<a href="classompl_1_1base_1_1SE2StateSpace.html#details">More...</a></p>
<p><code>#include <<a class="el" href="SE2StateSpace_8h_source.html">SE2StateSpace.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::SE2StateSpace:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1SE2StateSpace__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1SE2StateSpace_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1SE2StateSpace_inherit__map" id="ompl_1_1base_1_1SE2StateSpace_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces." alt="" coords="5,83,229,112"/><area shape="rect" id="node4" 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="36,5,199,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1SE2StateSpace-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SE2StateSpace_1_1StateType.html">StateType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A state in SE(2): (x, y, yaw) <a href="classompl_1_1base_1_1SE2StateSpace_1_1StateType.html#details">More...</a><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">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SE2StateSpace.html#aa39665e7053e3fcc9f26d1cc557914f8">setBounds</a> (const <a class="el" href="classompl_1_1base_1_1RealVectorBounds.html">RealVectorBounds</a> &bounds)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classompl_1_1base_1_1RealVectorBounds.html">RealVectorBounds</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SE2StateSpace.html#a70ec350a7137b4cfcad477785446b1ed">getBounds</a> (void) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a97ed18c18723e3cbbb637d93b60338e9"></a><!-- doxytag: member="ompl::base::SE2StateSpace::allocState" ref="a97ed18c18723e3cbbb637d93b60338e9" 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_1SE2StateSpace.html#a97ed18c18723e3cbbb637d93b60338e9">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="a30c9a7a7c43ceb1a57c27e784d1501ea"></a><!-- doxytag: member="ompl::base::SE2StateSpace::freeState" ref="a30c9a7a7c43ceb1a57c27e784d1501ea" args="(State *state) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SE2StateSpace.html#a30c9a7a7c43ceb1a57c27e784d1501ea">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"><a class="anchor" id="a41a388f3501e7b6b6e74ac310bd9061b"></a><!-- doxytag: member="ompl::base::SE2StateSpace::registerProjections" ref="a41a388f3501e7b6b6e74ac310bd9061b" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SE2StateSpace.html#a41a388f3501e7b6b6e74ac310bd9061b">registerProjections</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by <a class="el" 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>. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A state space representing SE(2) </p>
<p>Definition at line <a class="el" href="SE2StateSpace_8h_source.html#l00050">50</a> of file <a class="el" href="SE2StateSpace_8h_source.html">SE2StateSpace.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a70ec350a7137b4cfcad477785446b1ed"></a><!-- doxytag: member="ompl::base::SE2StateSpace::getBounds" ref="a70ec350a7137b4cfcad477785446b1ed" args="(void) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="classompl_1_1base_1_1RealVectorBounds.html">RealVectorBounds</a>& ompl::base::SE2StateSpace::getBounds </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get the bounds for this state space. </p>
<p>Definition at line <a class="el" href="SE2StateSpace_8h_source.html#l00132">132</a> of file <a class="el" href="SE2StateSpace_8h_source.html">SE2StateSpace.h</a>.</p>
</div>
</div>
<a class="anchor" id="aa39665e7053e3fcc9f26d1cc557914f8"></a><!-- doxytag: member="ompl::base::SE2StateSpace::setBounds" ref="aa39665e7053e3fcc9f26d1cc557914f8" args="(const RealVectorBounds &bounds)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void ompl::base::SE2StateSpace::setBounds </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classompl_1_1base_1_1RealVectorBounds.html">RealVectorBounds</a> & </td>
<td class="paramname"><em>bounds</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the bounds of this state space. This defines the range of the space in which sampling is performed. </p>
<p>Definition at line <a class="el" href="SE2StateSpace_8h_source.html#l00126">126</a> of file <a class="el" href="SE2StateSpace_8h_source.html">SE2StateSpace.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/spaces/<a class="el" href="SE2StateSpace_8h_source.html">SE2StateSpace.h</a></li>
<li>src/ompl/base/spaces/src/<a class="el" href="SE2StateSpace_8cpp_source.html">SE2StateSpace.cpp</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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<a href="http://www.rice.edu">Rice University</a><br>
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