KinematicChainBenchmark.cpp
76 void project(const ompl::base::State *state, ompl::base::EuclideanProjection &projection) const override
103 double distance(const ompl::base::State *state1, const ompl::base::State *state2) const override
191 // http://stackoverflow.com/questions/563198/how-do-you-detect-where-two-line-segments-intersect/1201356#1201356
269 ss.setStateValidityChecker(std::make_shared<KinematicChainValidityChecker>(ss.getSpaceInformation()));
A shared pointer wrapper for ompl::base::SpaceInformation.
A space to allow the composition of state spaces.
Definition: StateSpace.h:637
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:134
virtual void project(const State *state, EuclideanProjection &projection) const =0
Compute the projection as an array of double values.
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:159
unsigned int getStateDimension() const
Return the dimension of the state space.
Definition: SpaceInformation.h:274
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:127
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
Definition: StateSpace.cpp:1171
unsigned int getSubspaceCount() const
Get the number of state spaces that make up the compound state space.
Definition: StateSpace.cpp:912
A projection matrix – it allows multiplication of real vectors by a specified matrix....
Definition: ProjectionEvaluator.h:127
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: StateSpace.cpp:1076
void copyToReals(std::vector< double > &reals, const State *source) const
Copy all the real values from a state source to the array reals using getValueAddressAtLocation()
Definition: StateSpace.cpp:340
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
virtual unsigned int getDimension() const =0
Return the dimension of the projection defined by this evaluator.
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space)
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition: StateSpace.cpp:759
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection....
Definition: StateSpace.cpp:244
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:197
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking....
The definition of a state in SO(2)
Definition: SO2StateSpace.h:131
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:641
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: StateValidityChecker.h:222
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:123
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition: SpaceInformation.h:164
const StateSpace * space_
The state space this projection operates on.
Definition: ProjectionEvaluator.h:331
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...
Definition: StateSpace.cpp:879
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition: StateValidityChecker.h:154