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WrapperStateSpace.cpp
44void ompl::base::WrapperStateSampler::sampleUniformNear(State *state, const State *near, double distance)
50void ompl::base::WrapperStateSampler::sampleGaussian(State *state, const State *mean, double stdDev)
56ompl::base::WrapperProjectionEvaluator::WrapperProjectionEvaluator(const ompl::base::WrapperStateSpace *space)
72void ompl::base::WrapperProjectionEvaluator::project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const
74 projection_->project(state->as<ompl::base::WrapperStateSpace::StateType>()->getState(), projection);
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition ProjectionEvaluator.h:131
std::vector< double > cellSizes_
The size of a cell, in every dimension of the projected space, in the implicitly defined integer grid...
Definition ProjectionEvaluator.h:271
std::map< std::string, SubstateLocation > substateLocationsByName_
All the known substat locations, by name.
Definition StateSpace.h:565
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
std::map< std::string, ProjectionEvaluatorPtr > projections_
List of available projections.
Definition StateSpace.h:550
std::vector< ValueLocation > valueLocationsInOrder_
The value locations for all varliables of type double contained in a state; The locations point to va...
Definition StateSpace.h:557
std::map< std::string, ValueLocation > valueLocationsByName_
All the known value locations, by name. The names of state spaces access the first element of a state...
Definition StateSpace.h:562
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition StateSpace.cpp:752
double longestValidSegmentFraction_
The fraction of the longest valid segment.
Definition StateSpace.h:540
double maxExtent_
The extent of this space at the time setup() was called.
Definition StateSpace.h:537
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition WrapperStateSpace.cpp:67
void project(const State *state, Eigen::Ref< Eigen::VectorXd > projection) const override
Compute the projection as an array of double values.
Definition WrapperStateSpace.cpp:72
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a nearby state using underlying sampler.
Definition WrapperStateSpace.cpp:44
void sampleUniform(State *state) override
Sample a state using underlying sampler.
Definition WrapperStateSpace.cpp:39
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state within a Gaussian distribution using underlying sampler.
Definition WrapperStateSpace.cpp:50
Wrapper state type. Contains a reference to an underlying state.
Definition WrapperStateSpace.h:104
const State * getState() const
Get a const pointer to the underlying state.
Definition WrapperStateSpace.h:112
State space wrapper that transparently passes state space operations through to the underlying space....
Definition WrapperStateSpace.h:100
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition WrapperStateSpace.cpp:77
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