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ReedsSheppStateSpace.h
123 virtual void interpolate(const State *from, const ReedsSheppPath &path, double t, State *state) const;
148 bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
bool checkMotion(const State *s1, const State *s2) const override
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
Definition ReedsSheppStateSpace.cpp:661
double totalLength_
Definition ReedsSheppStateSpace.h:93
double length_[5]
Definition ReedsSheppStateSpace.h:91
const ReedsSheppPathSegmentType * type_
Definition ReedsSheppStateSpace.h:89
An SE(2) state space where distance is measured by the length of Reeds-Shepp curves.
Definition ReedsSheppStateSpace.h:64
void sanityChecks() const override
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition ReedsSheppStateSpace.h:112
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 ReedsSheppStateSpace.h:102
ReedsSheppPath reedsShepp(const State *state1, const State *state2) const
Return a shortest Reeds-Shepp path from SE(2) state state1 to SE(2) state state2.
Definition ReedsSheppStateSpace.cpp:596
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 ReedsSheppStateSpace.cpp:520
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 ReedsSheppStateSpace.cpp:515
static const ReedsSheppPathSegmentType reedsSheppPathType[18][5]
Reeds-Shepp path types.
Definition ReedsSheppStateSpace.h:482
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Definition SpaceInformation.h:82
@ STATESPACE_INTERPOLATION
Check whether calling StateSpace::interpolate() works as expected.
Definition StateSpace.h:145
virtual void sanityChecks() const
Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...
Definition StateSpace.cpp:603
double longestValidSegment_
The longest valid segment at the time setup() was called.
Definition StateSpace.h:543
unsigned int longestValidSegmentCountFactor_
The factor to multiply the value returned by validSegmentCount(). Rarely used but useful for things l...
Definition StateSpace.h:547
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66