SO2StateSpace.h
118 virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:203
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
Definition: SO2StateSpace.cpp:100
void setIdentity()
Set the state to identity – no rotation (value = 0.0)
Definition: SO2StateSpace.h:75
virtual unsigned int getDimension() const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Definition: SO2StateSpace.cpp:68
virtual double getMaximumExtent() const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: SO2StateSpace.cpp:73
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: SO2StateSpace.cpp:120
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
Definition: SO2StateSpace.cpp:105
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
Definition: SO2StateSpace.cpp:62
The definition of a state in SO(2)
Definition: SO2StateSpace.h:70
virtual StateSamplerPtr allocDefaultStateSampler() const
Allocate an instance of the default uniform state sampler for this space.
Definition: SO2StateSpace.cpp:158
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Definition: SO2StateSpace.cpp:55
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual bool satisfiesBounds(const State *state) const
Check if the value of the state is in the interval (-Pi, Pi].
Definition: SO2StateSpace.cpp:94
virtual State * allocState() const
Allocate a state that can store a point in the described space.
Definition: SO2StateSpace.cpp:163
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
Definition: SO2StateSpace.cpp:110
virtual double * getValueAddressAtIndex(State *state, const unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: SO2StateSpace.cpp:206
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
Definition: SO2StateSpace.cpp:221
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
Definition: SO2StateSpace.cpp:173
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition: SO2StateSpace.h:65
virtual void enforceBounds(State *state) const
Normalize the value of the state to the interval (-Pi, Pi].
Definition: SO2StateSpace.cpp:83
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
Definition: SO2StateSpace.cpp:211
virtual void freeState(State *state) const
Free the memory of the allocated state.
Definition: SO2StateSpace.cpp:168
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
Definition: SO2StateSpace.cpp:136
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
Definition: SO2StateSpace.cpp:115
virtual double getMeasure() const
Get a measure of the space (this can be thought of as a generalization of volume) ...
Definition: SO2StateSpace.cpp:78
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
Definition: SO2StateSpace.cpp:131