KinematicChainBenchmark.cpp
192 // http://stackoverflow.com/questions/563198/how-do-you-detect-where-two-line-segments-intersect/1201356#1201356
267 ompl::base::StateSpacePtr chain(new KinematicChainSpace(numLinks, 1. / (double)numLinks, &env));
274 std::vector<double> startVec(numLinks, boost::math::constants::pi<double>() / (double)numLinks);
Search Tree with Resolution Independent Density Estimation.
Definition: STRIDE.h:80
virtual unsigned int getDimension() const =0
Return the dimension of the projection defined by this evaluator.
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:104
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 ...
Definition: StateSpace.cpp:1146
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
ProjectionEvaluator(const StateSpace *space)
Construct a projection evaluator for a specific state space.
Definition: ProjectionEvaluator.cpp:127
STL namespace.
CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:549
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
Definition: StateSpace.cpp:227
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition: StateSpace.cpp:737
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition: PathGeometric.h:225
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition: PathGeometric.h:237
The definition of a state in SO(2)
Definition: SO2StateSpace.h:70
A boost shared pointer wrapper for ompl::base::StateValidityChecker.
const StateSpace * space_
The state space this projection operates on.
Definition: ProjectionEvaluator.h:263
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:65
A boost shared pointer wrapper for ompl::base::Planner.
Kinematic Planning by Interior-Exterior Cell Exploration.
Definition: KPIECE1.h:74
A space to allow the composition of state spaces.
Definition: StateSpace.h:544
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition: StateValidityChecker.h:93
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:62
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...
Definition: StateSpace.cpp:1052
A projection matrix – it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.
Definition: ProjectionEvaluator.h:68
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
virtual void project(const State *state, EuclideanProjection &projection) const =0
Compute the projection as an array of double values.
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition: SpaceInformation.h:104
unsigned int getStateDimension() const
Return the dimension of the state space.
Definition: SpaceInformation.h:209
unsigned int getSubspaceCount() const
Get the number of state spaces that make up the compound state space.
Definition: StateSpace.cpp:888
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition: SO2StateSpace.h:65
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: StateValidityChecker.h:158
void copyToReals(std::vector< double > &reals, const State *source) const
Copy all the real values from a state source to the array reals using getValueAddressAtLocation() ...
Definition: StateSpace.cpp:319
const T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:109
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:138