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ompl::base::CompoundStateManifold Class Reference

A manifold to allow the composition of state manifolds. More...

#include <StateManifold.h>

Inheritance diagram for ompl::base::CompoundStateManifold:

List of all members.

Public Types

typedef CompoundState StateType
 Define the type of state allocated by this manifold.

Public Member Functions

 CompoundStateManifold (void)
 Construct an empty compound manifold.
 CompoundStateManifold (const std::vector< StateManifoldPtr > &components, const std::vector< double > &weights)
 Construct a compound manifold from a list of sub-manifolds (components) and their corresponding weights (weights)
template<class T >
T * as (const unsigned int index) const
 Cast a component of this instance to a desired type.
template<class T >
T * as (const std::string &name) const
 Cast a component of this instance to a desired type.
virtual bool isCompound (void) const
 Check if the manifold is compound.
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 address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is NULL.
virtual void printState (const State *state, std::ostream &out) const
 Print a state to a stream.
virtual void printSettings (std::ostream &out) const
 Print the settings for this manifold to a stream.
virtual void setup (void)
 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. It is safe to call this function multiple times.
void lock (void)
 Lock this manifold. This means no further manifolds can be added as components. This function can be for instance called from the constructor of a manifold that inherits from CompoundStateManifold to prevent the user to add further components.
Management of contained manifolds
virtual void addSubManifold (const StateManifoldPtr &component, double weight)
 Adds a new manifold as part of the compound space. For computing distances within the compound space, the weight of the component also needs to be specified.
unsigned int getSubManifoldCount (void) const
 Get the number of manifolds that make up the compound manifold.
const StateManifoldPtrgetSubManifold (const unsigned int index) const
 Get a specific manifold from the compound manifold.
const StateManifoldPtrgetSubManifold (const std::string &name) const
 Get a specific manifold from the compound manifold.
unsigned int getSubManifoldIndex (const std::string &name) const
 Get the index of a specific manifold from the compound manifold.
bool hasSubManifold (const std::string &name) const
 Check if a specific submanifold is contained in this manifold.
double getSubManifoldWeight (const unsigned int index) const
 Get a specific manifold's weight from the compound manifold (used in distance computation)
double getSubManifoldWeight (const std::string &name) const
 Get a specific manifold's weight from the compound manifold (used in distance computation)
void setSubManifoldWeight (const unsigned int index, double weight)
 Set a specific manifold's weight in the compound manifold (used in distance computation)
void setSubManifoldWeight (const std::string &name, double weight)
 Set a specific manifold's weight in the compound manifold (used in distance computation)
const std::vector
< StateManifoldPtr > & 
getSubManifolds (void) const
 Get the list of components.
const std::vector< double > & getSubManifoldWeights (void) const
 Get the list of component weights.
bool isLocked (void) const
 Return true if the manifold is locked. A value of true means that no further manifolds can be added as components.
Functionality specific to the compound manifold
virtual unsigned int getDimension (void) const
 Get the dimension of the space.
virtual double getMaximumExtent (void) const
 Get the maximum value a call to distance() can return.
virtual void enforceBounds (State *state) const
 Bring the state within the bounds of the state space.
virtual bool satisfiesBounds (const State *state) const
 Check if a state is inside the bounding box.
virtual void copyState (State *destination, const State *source) const
 Copy a state to another. The memory of source and destination should NOT overlap.
virtual double distance (const State *state1, const State *state2) const
 Computes distance to between two states. This value will always be between 0 and getMaximumExtent()
virtual void setLongestValidSegmentFraction (double segmentFraction)
 When performing discrete validation of motions, the length of the longest segment that does not require state validation needs to be specified. This function sets this length as a fraction of the manifold's maximum extent. The call is passed to all contained manifolds.
virtual unsigned int validSegmentCount (const State *state1, const State *state2) const
 Count how many segments of the "longest valid length" fit on the motion from state1 to state2. This is the max() of the counts returned by contained manifolds.
virtual bool equalStates (const State *state1, const State *state2) const
 Checks whether two states are equal.
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. The memory location of state is not required to be different from the memory of either from or to.
virtual ManifoldStateSamplerPtr allocStateSampler (void) const
 Allocate an instance of a uniform state sampler for this space.
virtual StateallocState (void) const
 Allocate a state that can store a point in the described space.
virtual void freeState (State *state) const
 Free the memory of the allocated state.

Protected Member Functions

void allocStateComponents (CompoundState *state) const
 Allocate the state components. Called by allocState()

Protected Attributes

std::vector< StateManifoldPtrcomponents_
 The component manifolds that make up the compound state manifold.
unsigned int componentCount_
 The number of components.
std::vector< double > weights_
 The weight assigned to each component of the manifold when computing the compound distance.
bool locked_
 Flag indicating whether adding further components is allowed or not.

Detailed Description

A manifold to allow the composition of state manifolds.

Definition at line 295 of file StateManifold.h.


Member Function Documentation

template<class T >
T* ompl::base::CompoundStateManifold::as ( const unsigned int  index) const [inline]

Cast a component of this instance to a desired type.

Make sure the type we are casting to is indeed a state manifold

Definition at line 314 of file StateManifold.h.

template<class T >
T* ompl::base::CompoundStateManifold::as ( const std::string &  name) const [inline]

Cast a component of this instance to a desired type.

Make sure the type we are casting to is indeed a state manifold

Definition at line 324 of file StateManifold.h.


The documentation for this class was generated from the following files: