SO2StateSpace.cpp
55 void ompl::base::SO2StateSampler::sampleUniformNear(State *state, const State *near, const double distance)
57 state->as<SO2StateSpace::StateType>()->value = rng_.uniformReal(near->as<SO2StateSpace::StateType>()->value - distance,
62 void ompl::base::SO2StateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
64 state->as<SO2StateSpace::StateType>()->value = rng_.gaussian(mean->as<SO2StateSpace::StateType>()->value, stdDev);
128 return (d > boost::math::constants::pi<double>()) ? 2.0 * boost::math::constants::pi<double>() - d : d;
133 return fabs(state1->as<StateType>()->value - state2->as<StateType>()->value) < std::numeric_limits<double>::epsilon() * 2.0;
136 void ompl::base::SO2StateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
203 registerDefaultProjection(ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(new SO2DefaultProjection(this))));
206 double* ompl::base::SO2StateSpace::getValueAddressAtIndex(State *state, const unsigned int index) const
virtual StateSamplerPtr allocDefaultStateSampler() const
Allocate an instance of the default uniform state sampler for this space.
Definition: SO2StateSpace.cpp:158
virtual double getMaximumExtent() const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: SO2StateSpace.cpp:73
A boost shared pointer wrapper for ompl::base::StateSampler.
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: SO2StateSpace.cpp:206
virtual double getMeasure() const
Get a measure of the space (this can be thought of as a generalization of volume) ...
Definition: SO2StateSpace.cpp:78
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: SO2StateSpace.cpp:136
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
Definition: SO2StateSpace.cpp:62
The definition of a state in SO(2)
Definition: SO2StateSpace.h:70
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
Definition: SO2StateSpace.cpp:105
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
Definition: SO2StateSpace.cpp:221
virtual unsigned int getDimension() const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Definition: SO2StateSpace.cpp:68
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
Definition: SO2StateSpace.cpp:211
virtual bool satisfiesBounds(const State *state) const
Check if the value of the state is in the interval (-Pi, Pi].
Definition: SO2StateSpace.cpp:94
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
Definition: MagicConstants.h:57
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Definition: SO2StateSpace.cpp:55
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:68
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual State * allocState() const
Allocate a state that can store a point in the described space.
Definition: SO2StateSpace.cpp:163
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:62
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
Definition: SO2StateSpace.cpp:110
virtual void enforceBounds(State *state) const =0
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
Definition: SO2StateSpace.cpp:173
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
Definition: SO2StateSpace.cpp:115
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: SO2StateSpace.cpp:120
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
Definition: SO2StateSpace.cpp:131
virtual void freeState(State *state) const
Free the memory of the allocated state.
Definition: SO2StateSpace.cpp:168
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:138
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
Definition: SO2StateSpace.cpp:100
virtual void enforceBounds(State *state) const
Normalize the value of the state to the interval (-Pi, Pi].
Definition: SO2StateSpace.cpp:83
double gaussian(double mean, double stddev)
Generate a random real using a normal distribution with given mean and variance.
Definition: RandomNumbers.h:94