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RealVectorStateSpace.cpp
55void ompl::base::RealVectorStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
67void ompl::base::RealVectorStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
106void ompl::base::RealVectorStateSpace::addDimension(const std::string &name, double minBound, double maxBound)
156void ompl::base::RealVectorStateSpace::setDimensionName(unsigned int index, const std::string &name)
225void ompl::base::RealVectorStateSpace::deserialize(State *state, const void *serialization) const
230double ompl::base::RealVectorStateSpace::distance(const State *state1, const State *state2) const
244bool ompl::base::RealVectorStateSpace::equalStates(const State *state1, const State *state2) const
257void ompl::base::RealVectorStateSpace::interpolate(const State *from, const State *to, const double t,
286double *ompl::base::RealVectorStateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition RandomNumbers.h:73
The lower and upper bounds for an Rn space.
Definition RealVectorBounds.h:48
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and st...
Definition RealVectorStateSpace.cpp:67
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance,...
Definition RealVectorStateSpace.cpp:55
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
A state space representing Rn. The distance function is the L2 norm.
Definition RealVectorStateSpace.h:74
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
Definition RealVectorStateSpace.cpp:188
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition RealVectorStateSpace.cpp:244
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition RealVectorStateSpace.cpp:220
void addDimension(double minBound=0.0, double maxBound=0.0)
Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this add...
Definition RealVectorStateSpace.cpp:112
void setDimensionName(unsigned int index, const std::string &name)
Set the name of a dimension.
Definition RealVectorStateSpace.cpp:156
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition RealVectorStateSpace.cpp:309
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition RealVectorStateSpace.cpp:286
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
Definition RealVectorStateSpace.cpp:200
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition RealVectorStateSpace.cpp:272
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
Definition RealVectorStateSpace.cpp:257
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition RealVectorStateSpace.cpp:178
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
Definition RealVectorStateSpace.cpp:85
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition RealVectorStateSpace.cpp:167
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition RealVectorStateSpace.cpp:138
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition RealVectorStateSpace.cpp:230
void freeState(State *state) const override
Free the memory of the allocated state.
Definition RealVectorStateSpace.cpp:279
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition RealVectorStateSpace.cpp:215
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
Definition RealVectorStateSpace.cpp:121
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition RealVectorStateSpace.cpp:225
const std::string & getDimensionName(unsigned int index) const
Each dimension can optionally have a name associated to it. If it does, this function returns that na...
Definition RealVectorStateSpace.cpp:143
int getDimensionIndex(const std::string &name) const
Get the index of a specific dimension, by name. Return -1 if name is not found.
Definition RealVectorStateSpace.cpp:150
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition RealVectorStateSpace.cpp:100
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Definition RealVectorStateSpace.cpp:210
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition RealVectorStateSpace.cpp:291
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition RealVectorStateSpace.cpp:267
A shared pointer wrapper for ompl::base::StateSampler.
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space)
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition StateSpace.cpp:237