CForestStateSpaceWrapper.h
169 virtual void interpolate(const State *from, const State *to, const double t, State *state) const
virtual void setLongestValidSegmentFraction(double segmentFraction)
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: CForestStateSpaceWrapper.h:117
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
Definition: CForestStateSpaceWrapper.h:189
virtual void printProjections(std::ostream &out) const
Print the list of registered projections. This function is also called by printSettings() ...
Definition: CForestStateSpaceWrapper.h:197
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition: CForestStateSpaceWrapper.h:149
virtual bool isHybrid() const
Check if this is a hybrid state space (i.e., both discrete and continuous components exist) ...
Definition: CForestStateSpaceWrapper.h:97
State space wrapper to use together with CForest. It adds some functionalities to the regular state s...
Definition: CForestStateSpaceWrapper.h:55
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
Definition: CForestStateSpaceWrapper.h:145
virtual void sanityChecks(double zero, double eps, unsigned int flags) const
Perform sanity checks for this state space. Throws an exception if failures are found.
Definition: CForestStateSpaceWrapper.h:201
virtual bool isMetricSpace() const
Return true if the distance function associated with the space is a metric.
Definition: CForestStateSpaceWrapper.h:101
virtual void computeLocations()
Compute the location information for various components of the state space. Either this function or s...
Definition: CForestStateSpaceWrapper.h:213
virtual StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const
Allocate a sampler that actually samples only components that are part of subspace.
Definition: CForestStateSpaceWrapper.h:209
virtual bool hasSymmetricInterpolate() const
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from, to, t, state) = interpolate(to, from, 1-t, state). Default implementation returns true.
Definition: CForestStateSpaceWrapper.h:109
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
Definition: CForestStateSpaceWrapper.h:161
virtual void freeState(State *state) const
Free the memory of the allocated state.
Definition: CForestStateSpaceWrapper.h:177
virtual double getMaximumExtent() const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: CForestStateSpaceWrapper.h:129
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
Definition: CForestStateSpaceWrapper.h:169
virtual double getMeasure() const
Get a measure of the space (this can be thought of as a generalization of volume) ...
Definition: CForestStateSpaceWrapper.h:133
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
Definition: CForestStateSpaceWrapper.h:165
virtual bool isDiscrete() const
Check if the set of states is discrete.
Definition: CForestStateSpaceWrapper.h:93
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
Definition: CForestStateSpaceWrapper.h:157
virtual double * getValueAddressAtIndex(State *state, const unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: CForestStateSpaceWrapper.h:181
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
Definition: CForestStateSpaceWrapper.h:141
virtual void sanityChecks() const
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition: CForestStateSpaceWrapper.h:205
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
Definition: CForestStateSpaceWrapper.h:193
virtual unsigned int getDimension() const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Definition: CForestStateSpaceWrapper.h:125
virtual bool isCompound() const
Check if the state space is compound.
Definition: CForestStateSpaceWrapper.h:89
virtual State * allocState() const
Allocate a state that can store a point in the described space.
Definition: CForestStateSpaceWrapper.h:173
virtual double getLongestValidSegmentFraction() const
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: CForestStateSpaceWrapper.h:113
virtual bool hasSymmetricDistance() const
Check if the distance function on this state space is symmetric, i.e. distance(s1,s2) = distance(s2,s1). Default implementation returns true.
Definition: CForestStateSpaceWrapper.h:105
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
Definition: CForestStateSpaceWrapper.h:153
virtual void enforceBounds(State *state) const
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
Definition: CForestStateSpaceWrapper.h:137
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
Definition: CForestStateSpaceWrapper.h:185
virtual unsigned int validSegmentCount(const State *state1, const State *state2) const
Count how many segments of the "longest valid length" fit on the motion from state1 to state2...
Definition: CForestStateSpaceWrapper.h:121