CForestStateSpaceWrapper.cpp
40 ompl::base::StateSamplerPtr ompl::base::CForestStateSpaceWrapper::allocDefaultStateSampler() const
42 StateSamplerPtr sampler = StateSamplerPtr(new CForestStateSampler(this, space_->allocDefaultStateSampler()));
49 StateSamplerPtr sampler = StateSamplerPtr(new CForestStateSampler(this, space_->allocStateSampler()));
const std::map< std::string, ProjectionEvaluatorPtr > & getRegisteredProjections() const
Get all the registered projections.
Definition: StateSpace.cpp:732
A boost shared pointer wrapper for ompl::base::StateSampler.
unsigned int longestValidSegmentCountFactor_
The factor to multiply the value returned by validSegmentCount(). Rarely used but useful for things l...
Definition: StateSpace.h:518
const std::map< std::string, ValueLocation > & getValueLocationsByName() const
Get the named locations of values of type double contained in a state from this space. The setup() function must have been previously called.
Definition: StateSpace.cpp:314
Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state ...
Definition: CForestStateSampler.h:51
double getLongestValidSegmentLength() const
Get the longest valid segment at the time setup() was called.
Definition: StateSpace.cpp:829
virtual StateSamplerPtr allocDefaultStateSampler() const
Allocate an instance of the default uniform state sampler for this space.
Definition: CForestStateSpaceWrapper.cpp:40
unsigned int getValidSegmentCountFactor() const
Get the value used to multiply the return value of validSegmentCount().
Definition: StateSpace.cpp:819
virtual StateSamplerPtr allocStateSampler() const
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
Definition: StateSpace.cpp:785
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
Definition: CForestStateSpaceWrapper.cpp:54
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
Definition: StateSpace.cpp:231
virtual StateSamplerPtr allocDefaultStateSampler() const =0
Allocate an instance of the default uniform state sampler for this space.
const std::map< std::string, SubstateLocation > & getSubstateLocationsByName() const
Get the list of known substate locations (keys of the map corrspond to names of subspaces) ...
Definition: StateSpace.cpp:277
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:528
double maxExtent_
The extent of this space at the time setup() was called.
Definition: StateSpace.h:509
std::map< std::string, ProjectionEvaluatorPtr > projections_
List of available projections.
Definition: StateSpace.h:521
const std::vector< ValueLocation > & getValueLocations() const
Get the locations of values of type double contained in a state from this space. The order of the val...
Definition: StateSpace.cpp:309
virtual double getLongestValidSegmentFraction() const
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:824
virtual StateSamplerPtr allocStateSampler() const
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
Definition: CForestStateSpaceWrapper.cpp:47
double longestValidSegmentFraction_
The fraction of the longest valid segment.
Definition: StateSpace.h:512
std::map< std::string, SubstateLocation > substateLocationsByName_
All the known substat locations, by name.
Definition: StateSpace.h:535
double longestValidSegment_
The longest valid segment at the time setup() was called.
Definition: StateSpace.h:515
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:532
virtual double getMaximumExtent() const =0
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...