SE2StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SE2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO2StateSpace.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
48 
51  {
52  public:
53 
56  {
57  public:
59  {
60  }
61 
63  double getX() const
64  {
65  return as<RealVectorStateSpace::StateType>(0)->values[0];
66  }
67 
69  double getY() const
70  {
71  return as<RealVectorStateSpace::StateType>(0)->values[1];
72  }
73 
77  double getYaw() const
78  {
79  return as<SO2StateSpace::StateType>(1)->value;
80  }
81 
83  void setX(double x)
84  {
85  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
86  }
87 
89  void setY(double y)
90  {
91  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
92  }
93 
95  void setXY(double x, double y)
96  {
97  setX(x);
98  setY(y);
99  }
100 
104  void setYaw(double yaw)
105  {
106  as<SO2StateSpace::StateType>(1)->value = yaw;
107  }
108 
109  };
110 
111 
113  {
114  setName("SE2" + getName());
118  lock();
119  }
120 
121  virtual ~SE2StateSpace()
122  {
123  }
124 
126  void setBounds(const RealVectorBounds &bounds)
127  {
128  as<RealVectorStateSpace>(0)->setBounds(bounds);
129  }
130 
133  {
134  return as<RealVectorStateSpace>(0)->getBounds();
135  }
136 
137  virtual State* allocState() const;
138  virtual void freeState(State *state) const;
139 
140  virtual void registerProjections();
141 
142  };
143  }
144 }
145 
146 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:203
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
int type_
A type assigned for this state space.
Definition: StateSpace.h:503
A state in SE(2): (x, y, yaw)
Definition: SE2StateSpace.h:55
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
Definition of a compound state.
Definition: State.h:95
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
double getYaw() const
Get the yaw component of the state. This is the rotation in plane, with respect to the Z axis...
Definition: SE2StateSpace.h:77
void setX(double x)
Set the X component of the state.
Definition: SE2StateSpace.h:83
A boost shared pointer wrapper for ompl::base::StateSpace.
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:549
void setYaw(double yaw)
Set the yaw component of the state. This is the rotation in plane, with respect to the Z axis...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
virtual void freeState(State *state) const
Free the memory of the allocated state.
A space to allow the composition of state spaces.
Definition: StateSpace.h:544
A state space representing SE(2)
Definition: SE2StateSpace.h:50
void setXY(double x, double y)
Set the X and Y components of the state.
Definition: SE2StateSpace.h:95
ompl::base::SE2StateSpace
A state space representing Rn. The distance function is the L2 norm.
Definition of an abstract state.
Definition: State.h:50
double getX() const
Get the X component of the state.
Definition: SE2StateSpace.h:63
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
Definition: StateSpace.cpp:855
void setY(double y)
Set the Y component of the state.
Definition: SE2StateSpace.h:89
virtual State * allocState() const
Allocate a state that can store a point in the described space.
double getY() const
Get the Y component of the state.
Definition: SE2StateSpace.h:69
The lower and upper bounds for an Rn space.
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition: SO2StateSpace.h:65
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:198
CompoundStateSpace()
Construct an empty compound state space.
Definition: StateSpace.cpp:839