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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
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<li class="navelem"><a class="el" href="classompl_1_1control_1_1ODEStateSpace.html">ODEStateSpace</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html">StateType</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ompl::control::ODEStateSpace::StateType Class Reference</div> </div>
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<!-- doxytag: class="ompl::control::ODEStateSpace::StateType" --><!-- doxytag: inherits="ompl::base::CompoundState" -->
<p>ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for.
<a href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#details">More...</a></p>
<p><code>#include <<a class="el" href="ODEStateSpace_8h_source.html">ODEStateSpace.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::control::ODEStateSpace::StateType:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1control_1_1ODEStateSpace_1_1StateType__inherit__graph.png" border="0" usemap="#ompl_1_1control_1_1ODEStateSpace_1_1StateType_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1control_1_1ODEStateSpace_1_1StateType_inherit__map" id="ompl_1_1control_1_1ODEStateSpace_1_1StateType_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state." alt="" coords="12,83,268,112"/><area shape="rect" id="node4" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state." alt="" coords="77,5,203,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1control_1_1ODEStateSpace_1_1StateType-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="memItemLeft" align="right" valign="top"><a class="anchor" id="a97add6d9f4c4a303e1382ace5c55e521"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::getBodyPosition" ref="a97add6d9f4c4a303e1382ace5c55e521" args="(unsigned int body) const " -->
const double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a97add6d9f4c4a303e1382ace5c55e521">getBodyPosition</a> (unsigned int body) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the position (x, y, z) of the body at index <em>body</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7d4c2a0af078ebf427c3c12f51eba2b1"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::getBodyPosition" ref="a7d4c2a0af078ebf427c3c12f51eba2b1" args="(unsigned int body)" -->
double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a7d4c2a0af078ebf427c3c12f51eba2b1">getBodyPosition</a> (unsigned int body)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the position (x, y, z) of the body at index <em>body</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4aa3bab17e549b9cfa90959ac2ab98b4"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::getBodyRotation" ref="a4aa3bab17e549b9cfa90959ac2ab98b4" args="(unsigned int body) const " -->
const <br class="typebreak"/>
<a class="el" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html">base::SO3StateSpace::StateType</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a4aa3bab17e549b9cfa90959ac2ab98b4">getBodyRotation</a> (unsigned int body) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the quaternion of the body at index <em>body</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a950c0639913a2ded35005700bb6add5b"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::getBodyRotation" ref="a950c0639913a2ded35005700bb6add5b" args="(unsigned int body)" -->
<a class="el" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html">base::SO3StateSpace::StateType</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a950c0639913a2ded35005700bb6add5b">getBodyRotation</a> (unsigned int body)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the quaternion of the body at index <em>body</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d3af71b81cdd0c88793ae5c17f5ef04"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::getBodyLinearVelocity" ref="a1d3af71b81cdd0c88793ae5c17f5ef04" args="(unsigned int body) const " -->
const double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1d3af71b81cdd0c88793ae5c17f5ef04">getBodyLinearVelocity</a> (unsigned int body) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the linear velocity (x, y, z) of the body at index <em>body</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a698bd2928b2c590965f2d0616b61d50d"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::getBodyLinearVelocity" ref="a698bd2928b2c590965f2d0616b61d50d" args="(unsigned int body)" -->
double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a698bd2928b2c590965f2d0616b61d50d">getBodyLinearVelocity</a> (unsigned int body)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the linear velocity (x, y, z) of the body at index <em>body</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a85a649919c39e95887ee5b1e94116ed9"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::getBodyAngularVelocity" ref="a85a649919c39e95887ee5b1e94116ed9" args="(unsigned int body) const " -->
const double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a85a649919c39e95887ee5b1e94116ed9">getBodyAngularVelocity</a> (unsigned int body) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the angular velocity (x, y, z) of the body at index <em>body</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a92df615db19607d639eae6848bdc1b24"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::getBodyAngularVelocity" ref="a92df615db19607d639eae6848bdc1b24" args="(unsigned int body)" -->
double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a92df615db19607d639eae6848bdc1b24">getBodyAngularVelocity</a> (unsigned int body)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the angular velocity (x, y, z) of the body at index <em>body</em>. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1ba5dfafa14052fd4a9ee317cddcd596">collision</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flag containing information about state validity. <a href="#a1ba5dfafa14052fd4a9ee317cddcd596"></a><br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. </p>
<p>Definition at line <a class="el" href="ODEStateSpace_8h_source.html#l00068">68</a> of file <a class="el" href="ODEStateSpace_8h_source.html">ODEStateSpace.h</a>.</p>
</div><hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a1ba5dfafa14052fd4a9ee317cddcd596"></a><!-- doxytag: member="ompl::control::ODEStateSpace::StateType::collision" ref="a1ba5dfafa14052fd4a9ee317cddcd596" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1ba5dfafa14052fd4a9ee317cddcd596">ompl::control::ODEStateSpace::StateType::collision</a><code> [mutable]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Flag containing information about state validity. </p>
<ul>
<li>BIT 0: (<a class="el" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaed833e9de7ff11ae0e1913a2c23222f4" title="Index of bit in StateType::collision indicating whether it is known if a state is in collision or not...">ODEStateSpace::STATE_COLLISION_KNOWN_BIT</a>)</li>
<li>BIT 1: (<a class="el" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaa73ce13533ae4274372087653cc91c99" title="Index of bit in StateType::collision indicating whether a state is in collision or not...">ODEStateSpace::STATE_COLLISION_VALUE_BIT</a>)</li>
<li>BIT 2: (<a class="el" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fda10f9959c7abdf3c6c80c7e0190a0c7fb" title="Index of bit in StateType::collision indicating whether it is known if a state is in valid or not...">ODEStateSpace::STATE_VALIDITY_KNOWN_BIT</a>)</li>
<li>BIT 3: (<a class="el" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fda2b1ca7a8e59afc00ad7aa945589d4607" title="Index of bit in StateType::collision indicating whether a state is valid or not. Initially the value ...">ODEStateSpace::STATE_VALIDITY_VALUE_BIT</a>) </li>
</ul>
<p>Definition at line <a class="el" href="ODEStateSpace_8h_source.html#l00129">129</a> of file <a class="el" href="ODEStateSpace_8h_source.html">ODEStateSpace.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>src/ompl/extensions/ode/<a class="el" href="ODEStateSpace_8h_source.html">ODEStateSpace.h</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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