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SE2StateSpace.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_SPACES_SE2_STATE_SPACE_
38#define OMPL_BASE_SPACES_SE2_STATE_SPACE_
39
40#include "ompl/base/StateSpace.h"
41#include "ompl/base/spaces/RealVectorStateSpace.h"
42#include "ompl/base/spaces/SO2StateSpace.h"
43
44namespace ompl
45{
46 namespace base
47 {
49 class SE2StateSpace : public CompoundStateSpace
50 {
51 public:
53 class StateType : public CompoundStateSpace::StateType
54 {
55 public:
56 StateType() = default;
57
59 double getX() const
60 {
61 return as<RealVectorStateSpace::StateType>(0)->values[0];
62 }
63
65 double getY() const
66 {
67 return as<RealVectorStateSpace::StateType>(0)->values[1];
68 }
69
73 double getYaw() const
74 {
75 return as<SO2StateSpace::StateType>(1)->value;
76 }
77
79 void setX(double x)
80 {
82 }
83
85 void setY(double y)
86 {
88 }
89
91 void setXY(double x, double y)
92 {
93 setX(x);
94 setY(y);
95 }
96
100 void setYaw(double yaw)
101 {
102 as<SO2StateSpace::StateType>(1)->value = yaw;
103 }
104 };
105
107 {
108 setName("SE2" + getName());
110 addSubspace(std::make_shared<RealVectorStateSpace>(2), 1.0);
111 addSubspace(std::make_shared<SO2StateSpace>(), 0.5);
112 lock();
113 }
114
115 ~SE2StateSpace() override = default;
116
118 void setBounds(const RealVectorBounds &bounds)
119 {
120 as<RealVectorStateSpace>(0)->setBounds(bounds);
121 }
122
125 {
126 return as<RealVectorStateSpace>(0)->getBounds();
127 }
128
129 State *allocState() const override;
130 void freeState(State *state) const override;
131
132 void registerProjections() override;
133 };
134 }
135}
136
137#endif
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition StateSpace.h:577
CompoundStateSpace()
Construct an empty compound state space.
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
The lower and upper bounds for an Rn space.
void setXY(double x, double y)
Set the X and Y components of the state.
void setY(double y)
Set the Y component of the state.
double getYaw() const
Get the yaw component of the state. This is the rotation in plane, with respect to the Z axis.
double getY() const
Get the Y component of the state.
void setX(double x)
Set the X component of the state.
void setYaw(double yaw)
Set the yaw component of the state. This is the rotation in plane, with respect to the Z axis.
double getX() const
Get the X component of the state.
A state space representing SE(2)
State * allocState() const override
Allocate a state that can store a point in the described space.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void freeState(State *state) const override
Free the memory of the allocated state.
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
int type_
A type assigned for this state space.
Definition StateSpace.h:531
T * as()
Cast this instance to a desired type.
Definition StateSpace.h:87
void setName(const std::string &name)
Set the name of the state space.
const std::string & getName() const
Get the name of the state space.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
This namespace contains sampling based planning routines shared by both planning under geometric cons...
@ STATE_SPACE_SE2
ompl::base::SE2StateSpace
Main namespace. Contains everything in this library.