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CForestStateSpaceWrapper.h
167 void interpolate(const State *from, const State *to, const double t, State *state) const override
void printProjections(std::ostream &out) const override
Print the list of registered projections. This function is also called by printSettings()
Definition CForestStateSpaceWrapper.h:195
bool hasSymmetricDistance() const override
Check if the distance function on this state space is symmetric, i.e. distance(s1,...
Definition CForestStateSpaceWrapper.h:103
unsigned int validSegmentCount(const State *state1, const State *state2) const override
Count how many segments of the "longest valid length" fit on the motion from state1 to state2.
Definition CForestStateSpaceWrapper.h:119
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 CForestStateSpaceWrapper.h:147
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition CForestStateSpaceWrapper.h:171
void sanityChecks() const override
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition CForestStateSpaceWrapper.h:203
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition CForestStateSpaceWrapper.h:159
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 CForestStateSpaceWrapper.h:139
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition CForestStateSpaceWrapper.h:191
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition CForestStateSpaceWrapper.h:127
bool isHybrid() const override
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition CForestStateSpaceWrapper.h:95
StateSamplerPtr allocStateSampler() const override
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
Definition CForestStateSpaceWrapper.cpp:47
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition CForestStateSpaceWrapper.h:155
bool isCompound() const override
Check if the state space is compound.
Definition CForestStateSpaceWrapper.h:87
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition CForestStateSpaceWrapper.cpp:40
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 CForestStateSpaceWrapper.h:135
bool isMetricSpace() const override
Return true if the distance function associated with the space is a metric.
Definition CForestStateSpaceWrapper.h:99
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Definition CForestStateSpaceWrapper.h:143
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition CForestStateSpaceWrapper.h:123
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition CForestStateSpaceWrapper.h:163
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
Definition CForestStateSpaceWrapper.h:183
void interpolate(const State *from, const State *to, const 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 CForestStateSpaceWrapper.h:167
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition CForestStateSpaceWrapper.cpp:54
double getLongestValidSegmentFraction() const override
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition CForestStateSpaceWrapper.h:111
bool isDiscrete() const override
Check if the set of states is discrete.
Definition CForestStateSpaceWrapper.h:91
double * getValueAddressAtIndex(State *state, const unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition CForestStateSpaceWrapper.h:179
void sanityChecks(double zero, double eps, unsigned int flags) const override
Perform sanity checks for this state space. Throws an exception if failures are found.
Definition CForestStateSpaceWrapper.h:199
void freeState(State *state) const override
Free the memory of the allocated state.
Definition CForestStateSpaceWrapper.h:175
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition CForestStateSpaceWrapper.h:151
bool hasSymmetricInterpolate() const override
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...
Definition CForestStateSpaceWrapper.h:107
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition CForestStateSpaceWrapper.h:131
StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const override
Allocate a sampler that actually samples only components that are part of subspace.
Definition CForestStateSpaceWrapper.h:207
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition CForestStateSpaceWrapper.h:187
void computeLocations() override
Compute the location information for various components of the state space. Either this function or s...
Definition CForestStateSpaceWrapper.h:211
void setLongestValidSegmentFraction(double segmentFraction) override
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition CForestStateSpaceWrapper.h:115
A shared pointer wrapper for ompl::base::StateSampler.
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition StateSpace.h:71
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace contains code that is specific to planning under geometric constraints.
Definition GeneticSearch.h:48
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66