37 #ifndef OMPL_BASE_SPACES_TIME_STATE_SPACE_
38 #define OMPL_BASE_SPACES_TIME_STATE_SPACE_
40 #include "ompl/base/StateSpace.h"
104 void setBounds(
double minTime,
double maxTime);
132 virtual void serialize(
void *serialization,
const State *state)
const;
void setName(const std::string &name)
Set the name of the state space.
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
int type_
A type assigned for this state space.
virtual void freeState(State *state) const
Free the memory of the allocated state.
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void enforceBounds(State *state) const
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
double maxTime_
The maximum point in time considered by the state space (if bounds are used)
bool isBounded(void) const
Check if the time is bounded or not.
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
double minTime_
The minimum point in time considered by the state space (if bounds are used)
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
The definition of a time state.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
double getMinTimeBound(void) const
Get the minimum allowed value of position in a state. The function returns 0 if time is not bounded...
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
const std::string & getName(void) const
Get the name of the state space.
State space sampler for time.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
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 of an abstract state.
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
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...
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
double getMaxTimeBound(void) const
Get the maximum allowed value of position in a state. The function returns 0 if time is not bounded...
Abstract definition of a state space sampler.
TimeStateSampler(const StateSpace *space)
Constructor.
void setBounds(double minTime, double maxTime)
Set the minimum and maximum time bounds. This will make the state space switch into bounded time mode...
virtual void sampleUniform(State *state)
Sample a state.
A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op...
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) ...
ompl::base::TimeStateSpace
double position
The position in time.
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
bool bounded_
Flag indicating whether the state space is considering bounds or not.
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...
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.