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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
44namespace ompl
45{
46 namespace base
47 {
50 {
51 public:
54 {
55 public:
56 StateType() = default;
57
59 double getX() const
60 {
61 return as<RealVectorStateSpace::StateType>(0)->values[0];
62 }
63
65 double getY() const
66 {
67 return as<RealVectorStateSpace::StateType>(0)->values[1];
68 }
69
73 double getYaw() const
74 {
75 return as<SO2StateSpace::StateType>(1)->value;
76 }
77
79 void setX(double x)
80 {
81 as<RealVectorStateSpace::StateType>(0)->values[0] = x;
82 }
83
85 void setY(double y)
86 {
87 as<RealVectorStateSpace::StateType>(0)->values[1] = y;
88 }
89
91 void setXY(double x, double y)
92 {
93 setX(x);
94 setY(y);
95 }
96
100 void setYaw(double yaw)
101 {
102 as<SO2StateSpace::StateType>(1)->value = yaw;
103 }
104 };
105
107 {
108 setName("SE2" + getName());
110 addSubspace(std::make_shared<RealVectorStateSpace>(2), 1.0);
111 addSubspace(std::make_shared<SO2StateSpace>(), 0.5);
112 lock();
113 }
114
115 ~SE2StateSpace() override = default;
116
118 void setBounds(const RealVectorBounds &bounds)
119 {
120 as<RealVectorStateSpace>(0)->setBounds(bounds);
121 }
122
125 {
126 return as<RealVectorStateSpace>(0)->getBounds();
127 }
128
129 State *allocState() const override;
130 void freeState(State *state) const override;
131
132 void registerProjections() override;
133 };
134 }
135}
136
137#endif
A space to allow the composition of state spaces.
Definition: StateSpace.h:574
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:871
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
Definition of a compound state.
Definition: State.h:87
The lower and upper bounds for an Rn space.
A state in SE(2): (x, y, yaw)
Definition: SE2StateSpace.h:54
void setXY(double x, double y)
Set the X and Y components of the state.
Definition: SE2StateSpace.h:91
void setY(double y)
Set the Y component of the state.
Definition: SE2StateSpace.h:85
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:73
double getY() const
Get the Y component of the state.
Definition: SE2StateSpace.h:65
void setX(double x)
Set the X component of the state.
Definition: SE2StateSpace.h:79
void setYaw(double yaw)
Set the yaw component of the state. This is the rotation in plane, with respect to the Z axis.
double getX() const
Get the X component of the state.
Definition: SE2StateSpace.h:59
A state space representing SE(2)
Definition: SE2StateSpace.h:50
State * allocState() const override
Allocate a state that can store a point in the described space.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void freeState(State *state) const override
Free the memory of the allocated state.
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
Definition of an abstract state.
Definition: State.h:50
@ STATE_SPACE_SE2
ompl::base::SE2StateSpace
Main namespace. Contains everything in this library.