37 #ifndef OMPL_BASE_SPACE_INFORMATION_
38 #define OMPL_BASE_SPACE_INFORMATION_
40 #include "ompl/base/State.h"
41 #include "ompl/base/StateValidityChecker.h"
42 #include "ompl/base/MotionValidator.h"
43 #include "ompl/base/StateSpace.h"
44 #include "ompl/base/ValidStateSampler.h"
46 #include "ompl/util/ClassForward.h"
48 #include "ompl/util/Exception.h"
50 #include <boost/noncopyable.hpp>
51 #include <boost/function.hpp>
52 #include <boost/bind.hpp>
192 stateSpace_->setLongestValidSegmentFraction(resolution);
202 return stateSpace_->getLongestValidSegmentFraction();
226 for (
unsigned int i = 0 ; i < states.size() ; ++i)
239 for (
unsigned int i = 0 ; i < states.size() ; ++i)
343 bool checkMotion(
const std::vector<State*> &states,
unsigned int count,
unsigned int &firstInvalidStateIndex)
const;
346 bool checkMotion(
const std::vector<State*> &states,
unsigned int count)
const;
356 unsigned int getMotionStates(
const State *s1,
const State *s2, std::vector<State*> &states,
unsigned int count,
bool endpoints,
bool alloc)
const;
370 void samplesPerSecond(
double &uniform,
double &near,
double &gaussian,
unsigned int attempts)
const;
375 virtual void printSettings(std::ostream &out = std::cout)
const;
396 virtual void setup(
void);