<!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: ompl::base::State Class Reference</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"> </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="" 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="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_1State.html">State</a> </li> </ul> </div> </div> <div class="header"> <div class="summary"> <a href="#pub-methods">Public Member Functions</a> </div> <div class="headertitle"> <div class="title">ompl::base::State Class Reference</div> </div> </div> <div class="contents"> <!-- doxytag: class="ompl::base::State" --> <p>Definition of an abstract state. <a href="classompl_1_1base_1_1State.html#details">More...</a></p> <p><code>#include <<a class="el" href="State_8h_source.html">State.h</a>></code></p> <div class="dynheader"> Inheritance diagram for ompl::base::State:</div> <div class="dyncontent"> <div class="center"><img src="classompl_1_1base_1_1State__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1State_inherit__map" alt="Inheritance graph"/></div> <map name="ompl_1_1base_1_1State_inherit__map" id="ompl_1_1base_1_1State_inherit__map"> <area shape="rect" id="node3" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state." alt="" coords="233,59,420,88"/><area shape="rect" id="node11" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state." alt="" coords="188,112,465,141"/><area shape="rect" id="node13" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html" title="The definition of a state in Rn" alt="" coords="180,165,473,195"/><area shape="rect" id="node15" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html" title="The definition of a state in SO(2)" alt="" coords="199,219,455,248"/><area shape="rect" id="node17" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html" title="The definition of a state in SO(3) represented as a unit quaternion." alt="" coords="199,272,455,301"/><area shape="rect" id="node19" href="classompl_1_1base_1_1TimeStateSpace_1_1StateType.html" title="The definition of a time state." alt="" coords="197,325,456,355"/><area shape="rect" id="node5" href="classompl_1_1base_1_1SE2StateSpace_1_1StateType.html" title="A state in SE(2): (x, y, yaw)" alt="" coords="532,5,785,35"/><area shape="rect" id="node7" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html" title="A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)" alt="" coords="532,59,785,88"/><area shape="rect" id="node9" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html" title="ODE State. This is a compound state that allows accessing the properties of the bodies the state spac..." alt="" coords="524,112,793,141"/></map> <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div> <p><a href="classompl_1_1base_1_1State-members.html">List of all members.</a></p> <table class="memberdecls"> <tr><td colspan="2"><h2><a name="pub-methods"></a> Public Member Functions</h2></td></tr> <tr><td class="memTemplParams" colspan="2">template<class T > </td></tr> <tr><td class="memTemplItemLeft" align="right" valign="top">const T * </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb">as</a> (void) const </td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Cast this instance to a desired type. <a href="#ae4ed5c095a6b2d4a5c946b91bc65e9cb"></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_1State.html#ae4c61a06169a1f19107fe3efc33d556b">as</a> (void)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Cast this instance to a desired type. <a href="#ae4c61a06169a1f19107fe3efc33d556b"></a><br/></td></tr> </table> <hr/><a name="details" id="details"></a><h2>Detailed Description</h2> <div class="textblock"><p>Definition of an abstract state. </p> <p>See <a class="el" href="workingWithStates.html#stateAlloc">Allocating memory for states</a> and <a class="el" href="workingWithStates.html#stateOps">Operating with states</a>. </p> <p>Definition at line <a class="el" href="State_8h_source.html#l00050">50</a> of file <a class="el" href="State_8h_source.html">State.h</a>.</p> </div><hr/><h2>Member Function Documentation</h2> <a class="anchor" id="ae4ed5c095a6b2d4a5c946b91bc65e9cb"></a><!-- doxytag: member="ompl::base::State::as" ref="ae4ed5c095a6b2d4a5c946b91bc65e9cb" args="(void) const " --> <div class="memitem"> <div class="memproto"> <div class="memtemplate"> template<class T > </div> <table class="memname"> <tr> <td class="memname">const T* ompl::base::State::as </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>Cast this instance to a desired type. </p> <p><p>Make sure the type we are allocating is indeed a state </p> </p> <p>Definition at line <a class="el" href="State_8h_source.html#l00074">74</a> of file <a class="el" href="State_8h_source.html">State.h</a>.</p> </div> </div> <a class="anchor" id="ae4c61a06169a1f19107fe3efc33d556b"></a><!-- doxytag: member="ompl::base::State::as" ref="ae4c61a06169a1f19107fe3efc33d556b" args="(void)" --> <div class="memitem"> <div class="memproto"> <div class="memtemplate"> template<class T > </div> <table class="memname"> <tr> <td class="memname">T* ompl::base::State::as </td> <td>(</td> <td class="paramtype">void </td> <td class="paramname"></td><td>)</td> <td><code> [inline]</code></td> </tr> </table> </div> <div class="memdoc"> <p>Cast this instance to a desired type. </p> <p><p>Make sure the type we are allocating is indeed a state </p> </p> <p>Definition at line <a class="el" href="State_8h_source.html#l00084">84</a> of file <a class="el" href="State_8h_source.html">State.h</a>.</p> </div> </div> <hr/>The documentation for this class was generated from the following file:<ul> <li>src/ompl/base/<a class="el" href="State_8h_source.html">State.h</a></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"> </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 23:04:42 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>