RealVectorStateSpace.h
107 RealVectorStateSpace(unsigned int dim = 0) : StateSpace(), dimension_(dim), bounds_(dim), stateBytes_(dim * sizeof(double))
170 virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
Definition: RealVectorStateSpace.h:133
State sampler for the Rn state space.
Definition: RealVectorStateSpace.h:52
std::vector< std::string > dimensionNames_
Optional names for individual dimensions.
Definition: RealVectorStateSpace.h:197
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance, near[i]+distance]. If this interval exceeds the state space bounds, the interval is truncated.
Definition: RealVectorStateSpace.cpp:56
double & operator[](unsigned int i)
Access element i of values. This does not check whether the index is within bounds.
Definition: RealVectorStateSpace.h:96
std::map< std::string, unsigned int > dimensionIndex_
Map from names to index values for dimensions.
Definition: RealVectorStateSpace.h:200
RealVectorBounds bounds_
The bounds of the space (used for sampling)
Definition: RealVectorStateSpace.h:194
A state space representing Rn. The distance function is the L2 norm.
Definition: RealVectorStateSpace.h:75
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and st...
Definition: RealVectorStateSpace.cpp:69
double operator[](unsigned int i) const
Access element i of values. This does not check whether the index is within bounds.
Definition: RealVectorStateSpace.h:89
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
ompl::base::RealVectorStateSpace
Definition: StateSpaceTypes.h:53
The definition of a state in Rn
Definition: RealVectorStateSpace.h:80
RealVectorStateSpace(unsigned int dim=0)
Constructor. The dimension of of the space needs to be specified. A space representing Rdim will be i...
Definition: RealVectorStateSpace.h:107