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StateSpace.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_STATE_SPACE_
38#define OMPL_BASE_STATE_SPACE_
39
40#include "ompl/base/State.h"
41#include "ompl/base/StateSpaceTypes.h"
42#include "ompl/base/StateSampler.h"
43#include "ompl/base/ProjectionEvaluator.h"
44#include "ompl/base/GenericParam.h"
45#include "ompl/util/Console.h"
46#include "ompl/util/ClassForward.h"
47#include <boost/concept_check.hpp>
48#include <iostream>
49#include <vector>
50#include <string>
51#include <map>
52
53namespace ompl
54{
55 namespace base
56 {
58
59 OMPL_CLASS_FORWARD(StateSpace);
61
71 {
72 public:
73 // non-copyable
74 StateSpace(const StateSpace &) = delete;
75 StateSpace &operator=(const StateSpace &) = delete;
76
79
81 StateSpace();
82
83 virtual ~StateSpace();
84
86 template <class T>
87 T *as()
88 {
90 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, StateSpace *>));
91
92 return static_cast<T *>(this);
93 }
94
96 template <class T>
97 const T *as() const
98 {
100 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, StateSpace *>));
101
102 return static_cast<const T *>(this);
103 }
104
108 {
114 std::vector<std::size_t> chain;
115
118 };
119
123 {
126
128 std::size_t index;
129 };
130
135 {
136
140
143
146
150
153
156
159
161 STATESPACE_SERIALIZATION = (1 << 8)
162 };
163
168 virtual bool isCompound() const;
169
176 virtual bool isDiscrete() const;
177
179 virtual bool isHybrid() const;
180
183 virtual bool isMetricSpace() const
184 {
185 return true;
186 }
187
190 virtual bool hasSymmetricDistance() const;
191
194 virtual bool hasSymmetricInterpolate() const;
195
197 const std::string &getName() const;
198
200 void setName(const std::string &name);
201
205 int getType() const
206 {
207 return type_;
208 }
209
211 bool includes(const StateSpacePtr &other) const;
212
214 bool includes(const StateSpace *other) const;
215
218 bool covers(const StateSpacePtr &other) const;
219
222 bool covers(const StateSpace *other) const;
223
226 {
227 return params_;
228 }
229
231 const ParamSet &params() const
232 {
233 return params_;
234 }
235
241 virtual double getLongestValidSegmentFraction() const;
242
253 virtual void setLongestValidSegmentFraction(double segmentFraction);
254
257 virtual unsigned int validSegmentCount(const State *state1, const State *state2) const;
258
265 virtual void setValidSegmentCountFactor(unsigned int factor);
266
268 virtual unsigned int getValidSegmentCountFactor() const;
269
271 virtual double getLongestValidSegmentLength() const;
272
275 virtual void computeSignature(std::vector<int> &signature) const;
276
283 virtual unsigned int getDimension() const = 0;
284
291 virtual double getMaximumExtent() const = 0;
292
294 virtual double getMeasure() const = 0;
295
298 virtual void enforceBounds(State *state) const = 0;
299
302 virtual bool satisfiesBounds(const State *state) const = 0;
303
307 virtual void copyState(State *destination, const State *source) const = 0;
308
310 State *cloneState(const State *source) const;
311
315 virtual double distance(const State *state1, const State *state2) const = 0;
316
318 virtual unsigned int getSerializationLength() const;
319
321 virtual void serialize(void *serialization, const State *state) const;
322
324 virtual void deserialize(State *state, const void *serialization) const;
325
327 virtual bool equalStates(const State *state1, const State *state2) const = 0;
328
333 virtual void interpolate(const State *from, const State *to, double t, State *state) const = 0;
334
337
342 virtual StateSamplerPtr allocStateSampler() const;
343
346
349
351 virtual State *allocState() const = 0;
352
354 virtual void freeState(State *state) const = 0;
355
376 virtual double *getValueAddressAtIndex(State *state, unsigned int index) const;
377
379 const double *getValueAddressAtIndex(const State *state, unsigned int index) const;
380
384 const std::vector<ValueLocation> &getValueLocations() const;
385
388 const std::map<std::string, ValueLocation> &getValueLocationsByName() const;
389
391 double *getValueAddressAtLocation(State *state, const ValueLocation &loc) const;
392
394 const double *getValueAddressAtLocation(const State *state, const ValueLocation &loc) const;
395
397 double *getValueAddressAtName(State *state, const std::string &name) const;
398
400 const double *getValueAddressAtName(const State *state, const std::string &name) const;
401
404 virtual void copyToReals(std::vector<double> &reals, const State *source) const;
405
407 virtual void copyFromReals(State *destination, const std::vector<double> &reals) const;
408
415 void registerProjection(const std::string &name, const ProjectionEvaluatorPtr &projection);
416
419
423 virtual void registerProjections();
424
426 ProjectionEvaluatorPtr getProjection(const std::string &name) const;
427
430
432 bool hasProjection(const std::string &name) const;
433
435 bool hasDefaultProjection() const;
436
438 const std::map<std::string, ProjectionEvaluatorPtr> &getRegisteredProjections() const;
439
446 virtual void printState(const State *state, std::ostream &out = std::cout) const;
447
449 virtual void printSettings(std::ostream &out) const;
450
452 virtual void printProjections(std::ostream &out) const;
453
456 virtual void sanityChecks(double zero, double eps, unsigned int flags) const;
457
461 virtual void sanityChecks() const;
462
464 void diagram(std::ostream &out) const;
465
467 void list(std::ostream &out) const;
468
471 static void Diagram(std::ostream &out);
472
474 static void List(std::ostream &out);
475
483
485 virtual StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const;
486
488 State *getSubstateAtLocation(State *state, const SubstateLocation &loc) const;
489
491 const State *getSubstateAtLocation(const State *state, const SubstateLocation &loc) const;
492
494 const std::map<std::string, SubstateLocation> &getSubstateLocationsByName() const;
495
500 void getCommonSubspaces(const StateSpacePtr &other, std::vector<std::string> &subspaces) const;
501
506 void getCommonSubspaces(const StateSpace *other, std::vector<std::string> &subspaces) const;
507
512 virtual void computeLocations();
513
524 virtual void setup();
525
526 protected:
528 static const std::string DEFAULT_PROJECTION_NAME;
529
531 int type_;
532
535
538
541
544
548
550 std::map<std::string, ProjectionEvaluatorPtr> projections_;
551
554
557 std::vector<ValueLocation> valueLocationsInOrder_;
558
562 std::map<std::string, ValueLocation> valueLocationsByName_;
563
565 std::map<std::string, SubstateLocation> substateLocationsByName_;
566
567 private:
569 std::string name_;
570 };
571
574 {
575 public:
578
581
584 CompoundStateSpace(const std::vector<StateSpacePtr> &components, const std::vector<double> &weights);
585
586 ~CompoundStateSpace() override = default;
587
589 template <class T>
590 T *as(const unsigned int index) const
591 {
593 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, StateSpace *>));
594
595 return static_cast<T *>(getSubspace(index).get());
596 }
597
599 template <class T>
600 T *as(const std::string &name) const
601 {
603 BOOST_CONCEPT_ASSERT((boost::Convertible<T *, StateSpace *>));
604
605 return static_cast<T *>(getSubspace(name).get());
606 }
607
608 bool isCompound() const override;
609
610 bool isHybrid() const override;
611
618 void addSubspace(const StateSpacePtr &component, double weight);
619
621 unsigned int getSubspaceCount() const;
622
624 const StateSpacePtr &getSubspace(unsigned int index) const;
625
627 const StateSpacePtr &getSubspace(const std::string &name) const;
628
630 unsigned int getSubspaceIndex(const std::string &name) const;
631
633 bool hasSubspace(const std::string &name) const;
634
636 double getSubspaceWeight(unsigned int index) const;
637
639 double getSubspaceWeight(const std::string &name) const;
640
642 void setSubspaceWeight(unsigned int index, double weight);
643
645 void setSubspaceWeight(const std::string &name, double weight);
646
648 const std::vector<StateSpacePtr> &getSubspaces() const;
649
651 const std::vector<double> &getSubspaceWeights() const;
652
656 bool isLocked() const;
657
663 void lock();
669 StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const override;
670
676 unsigned int getDimension() const override;
677
678 double getMaximumExtent() const override;
679
680 double getMeasure() const override;
681
682 void enforceBounds(State *state) const override;
683
684 bool satisfiesBounds(const State *state) const override;
685
686 void copyState(State *destination, const State *source) const override;
687
688 unsigned int getSerializationLength() const override;
689
690 void serialize(void *serialization, const State *state) const override;
691
692 void deserialize(State *state, const void *serialization) const override;
693
694 double distance(const State *state1, const State *state2) const override;
695
701 void setLongestValidSegmentFraction(double segmentFraction) override;
702
706 unsigned int validSegmentCount(const State *state1, const State *state2) const override;
707
708 bool equalStates(const State *state1, const State *state2) const override;
709
710 void interpolate(const State *from, const State *to, double t, State *state) const override;
711
713
714 State *allocState() const override;
715
716 void freeState(State *state) const override;
717
718 double *getValueAddressAtIndex(State *state, unsigned int index) const override;
719
722 void printState(const State *state, std::ostream &out) const override;
723
724 void printSettings(std::ostream &out) const override;
725
726 void computeLocations() override;
727
728 void setup() override;
729
730 protected:
732 void allocStateComponents(CompoundState *state) const;
733
735 std::vector<StateSpacePtr> components_;
736
738 unsigned int componentCount_{0u};
739
741 std::vector<double> weights_;
742
744 double weightSum_{0.0};
745
747 bool locked_{false};
748 };
749
763
771
774 StateSpacePtr operator-(const StateSpacePtr &a, const std::string &name);
775
787 {
790
793
796 };
797
805 AdvancedStateCopyOperation copyStateData(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS,
806 const State *source);
807
815 AdvancedStateCopyOperation copyStateData(const StateSpace *destS, State *dest, const StateSpace *sourceS,
816 const State *source);
817
824 AdvancedStateCopyOperation copyStateData(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS,
825 const State *source, const std::vector<std::string> &subspaces);
826
833 AdvancedStateCopyOperation copyStateData(const StateSpace *destS, State *dest, const StateSpace *sourceS,
834 const State *source, const std::vector<std::string> &subspaces);
836 }
837}
838
839#endif
A space to allow the composition of state spaces.
Definition: StateSpace.h:574
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
unsigned int validSegmentCount(const State *state1, const State *state2) const override
Count how many segments of the "longest valid length" fit on the motion from state1 to state2....
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition: StateSpace.cpp:988
void setSubspaceWeight(unsigned int index, double weight)
Set the weight of a subspace in the compound state space (used in distance computation)
Definition: StateSpace.cpp:954
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
CompoundStateSpace()
Construct an empty compound state space.
Definition: StateSpace.cpp:856
bool isLocked() const
Return true if the state space is locked. A value of true means that no further spaces can be added a...
const StateSpacePtr & getSubspace(unsigned int index) const
Get a specific subspace from the compound state space.
Definition: StateSpace.cpp:909
unsigned int getSubspaceCount() const
Get the number of state spaces that make up the compound state space.
Definition: StateSpace.cpp:904
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces.
double weightSum_
The sum of all the weights in weights_.
Definition: StateSpace.h:744
bool locked_
Flag indicating whether adding further components is allowed or not.
Definition: StateSpace.h:747
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
double getSubspaceWeight(unsigned int index) const
Get the weight of a subspace from the compound state space (used in distance computation)
Definition: StateSpace.cpp:938
bool isCompound() const override
Check if the state space is compound.
Definition: StateSpace.cpp:883
unsigned int getSubspaceIndex(const std::string &name) const
Get the index of a specific subspace from the compound state space.
Definition: StateSpace.cpp:925
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
bool isHybrid() const override
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition: StateSpace.cpp:888
void computeLocations() override
Compute the location information for various components of the state space. Either this function or s...
const std::vector< double > & getSubspaceWeights() const
Get the list of component weights.
Definition: StateSpace.cpp:983
void setLongestValidSegmentFraction(double segmentFraction) override
When performing discrete validation of motions, the length of the longest segment that does not requi...
unsigned int componentCount_
The number of components.
Definition: StateSpace.h:738
StateSamplerPtr allocSubspaceStateSampler(const StateSpace *subspace) const override
Allocate a sampler that actually samples only components that are part of subspace.
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
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
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
State * allocState() const override
Allocate a state that can store a point in the described space.
void freeState(State *state) const override
Free the memory of the allocated state.
const std::vector< StateSpacePtr > & getSubspaces() const
Get the list of components.
Definition: StateSpace.cpp:978
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: StateSpace.cpp:996
std::vector< double > weights_
The weight assigned to each component of the state space when computing the compound distance.
Definition: StateSpace.h:741
T * as(const std::string &name) const
Cast a component of this instance to a desired type.
Definition: StateSpace.h:600
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
std::vector< StateSpacePtr > components_
The state spaces that make up the compound state space.
Definition: StateSpace.h:735
T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition: StateSpace.h:590
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
bool hasSubspace(const std::string &name) const
Check if a specific subspace is contained in this state space.
Definition: StateSpace.cpp:917
Definition of a compound state.
Definition: State.h:87
Maintain a set of parameters.
Definition: GenericParam.h:226
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
const ParamSet & params() const
Get the parameters for this space.
Definition: StateSpace.h:231
virtual bool satisfiesBounds(const State *state) const =0
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
virtual bool hasSymmetricInterpolate() const
Check if the interpolation function on this state space is symmetric, i.e. interpolate(from,...
Definition: StateSpace.cpp:785
ParamSet & params()
Get the parameters for this space.
Definition: StateSpace.h:225
virtual void sanityChecks(double zero, double eps, unsigned int flags) const
Perform sanity checks for this state space. Throws an exception if failures are found.
Definition: StateSpace.cpp:609
virtual bool hasSymmetricDistance() const
Check if the distance function on this state space is symmetric, i.e. distance(s1,...
Definition: StateSpace.cpp:780
ParamSet params_
The set of parameters for this space.
Definition: StateSpace.h:553
virtual void computeLocations()
Compute the location information for various components of the state space. Either this function or s...
Definition: StateSpace.cpp:214
virtual void printState(const State *state, std::ostream &out=std::cout) const
Print a state to a stream.
Definition: StateSpace.cpp:388
std::map< std::string, SubstateLocation > substateLocationsByName_
All the known substat locations, by name.
Definition: StateSpace.h:565
virtual double getLongestValidSegmentFraction() const
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:841
ProjectionEvaluatorPtr getDefaultProjection() const
Get the default projection.
Definition: StateSpace.cpp:723
StateSamplerAllocator ssa_
An optional state sampler allocator.
Definition: StateSpace.h:534
void registerProjection(const std::string &name, const ProjectionEvaluatorPtr &projection)
Register a projection for this state space under a specified name.
Definition: StateSpace.cpp:757
int getType() const
Get the type of the state space. The type can be used to verify whether two space instances are of th...
Definition: StateSpace.h:205
virtual void printProjections(std::ostream &out) const
Print the list of registered projections. This function is also called by printSettings()
Definition: StateSpace.cpp:399
virtual double * getValueAddressAtIndex(State *state, unsigned int index) const
Many states contain a number of double values. This function provides a means to get the memory addre...
Definition: StateSpace.cpp:306
virtual void computeSignature(std::vector< int > &signature) const
Compute an array of ints that uniquely identifies the structure of the state space....
Definition: StateSpace.cpp:219
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.
Definition: StateSpace.cpp:851
static const std::string DEFAULT_PROJECTION_NAME
The name used for the default projection.
Definition: StateSpace.h:528
double * getValueAddressAtName(State *state, const std::string &name) const
Get a pointer to the double value in state that name points to.
Definition: StateSpace.cpp:361
virtual double getMeasure() const =0
Get a measure of the space (this can be thought of as a generalization of volume)
virtual double getLongestValidSegmentLength() const
Get the longest valid segment at the time setup() was called.
Definition: StateSpace.cpp:846
void list(std::ostream &out) const
Print the list of all contained state space instances.
Definition: StateSpace.cpp:535
SanityChecks
Flags to use in a bit mask for state space sanity checks. Some basic checks do not have flags associa...
Definition: StateSpace.h:135
@ STATESPACE_DISTANCE_BOUND
Check whether the StateSpace::distance() is bounded by StateSpace::getExtent()
Definition: StateSpace.h:152
@ STATESPACE_DISTANCE_DIFFERENT_STATES
Check whether the distances between non-equal states is strictly positive (StateSpace::distance())
Definition: StateSpace.h:139
@ STATESPACE_INTERPOLATION
Check whether calling StateSpace::interpolate() works as expected.
Definition: StateSpace.h:145
@ STATESPACE_RESPECT_BOUNDS
Check whether sampled states are always within bounds.
Definition: StateSpace.h:155
@ STATESPACE_TRIANGLE_INEQUALITY
Check whether the triangle inequality holds when using StateSpace::interpolate() and StateSpace::dist...
Definition: StateSpace.h:149
@ STATESPACE_DISTANCE_SYMMETRIC
Check whether the distance function is symmetric (StateSpace::distance())
Definition: StateSpace.h:142
@ STATESPACE_SERIALIZATION
Check whether the StateSpace::serialize() and StateSpace::deserialize() work as expected.
Definition: StateSpace.h:161
@ STATESPACE_ENFORCE_BOUNDS_NO_OP
Check that enforceBounds() does not modify the contents of states that are within bounds.
Definition: StateSpace.h:158
bool covers(const StateSpacePtr &other) const
Return true if other is a space that is either included (perhaps equal, perhaps a subspace) in this o...
Definition: StateSpace.cpp:473
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
virtual bool equalStates(const State *state1, const State *state2) const =0
Checks whether two states are equal.
T * as()
Cast this instance to a desired type.
Definition: StateSpace.h:87
virtual void copyFromReals(State *destination, const std::vector< double > &reals) const
Copy the values from reals to the state destination using getValueAddressAtLocation()
Definition: StateSpace.cpp:337
virtual bool isCompound() const
Check if the state space is compound.
Definition: StateSpace.cpp:765
virtual void enforceBounds(State *state) const =0
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space)
virtual StateSamplerPtr allocDefaultStateSampler() const =0
Allocate an instance of the default uniform state sampler for this space.
virtual unsigned int getValidSegmentCountFactor() const
Get the value used to multiply the return value of validSegmentCount().
Definition: StateSpace.cpp:836
StateSamplerPtr allocSubspaceStateSampler(const StateSpacePtr &subspace) const
Allocate a sampler that actually samples only components that are part of subspace.
Definition: StateSpace.cpp:808
virtual bool isMetricSpace() const
Return true if the distance function associated with the space is a metric.
Definition: StateSpace.h:183
double longestValidSegment_
The longest valid segment at the time setup() was called.
Definition: StateSpace.h:543
virtual bool isDiscrete() const
Check if the set of states is discrete.
Definition: StateSpace.cpp:770
const std::map< std::string, ValueLocation > & getValueLocationsByName() const
Get the named locations of values of type double contained in a state from this space....
Definition: StateSpace.cpp:324
static void Diagram(std::ostream &out)
Print a Graphviz digraph that represents the containment diagram for all the instantiated state space...
Definition: StateSpace.cpp:580
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: StateSpace.cpp:237
virtual bool isHybrid() const
Check if this is a hybrid state space (i.e., both discrete and continuous components exist)
Definition: StateSpace.cpp:775
const std::map< std::string, SubstateLocation > & getSubstateLocationsByName() const
Get the list of known substate locations (keys of the map corrspond to names of subspaces)
Definition: StateSpace.cpp:284
virtual void setValidSegmentCountFactor(unsigned int factor)
Set factor to be the value to multiply the return value of validSegmentCount(). By default,...
Definition: StateSpace.cpp:820
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection....
Definition: StateSpace.cpp:233
void getCommonSubspaces(const StateSpacePtr &other, std::vector< std::string > &subspaces) const
Get the set of subspaces that this space and other have in common. The computed list of subspaces doe...
Definition: StateSpace.cpp:493
State * getSubstateAtLocation(State *state, const SubstateLocation &loc) const
Get the substate of state that is pointed to by loc.
Definition: StateSpace.cpp:289
unsigned int longestValidSegmentCountFactor_
The factor to multiply the value returned by validSegmentCount(). Rarely used but useful for things l...
Definition: StateSpace.h:547
void setStateSamplerAllocator(const StateSamplerAllocator &ssa)
Set the sampler allocator to use.
Definition: StateSpace.cpp:790
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
Definition: StateSpace.cpp:375
double * getValueAddressAtLocation(State *state, const ValueLocation &loc) const
Get a pointer to the double value in state that loc points to.
Definition: StateSpace.cpp:345
std::map< std::string, ProjectionEvaluatorPtr > projections_
List of available projections.
Definition: StateSpace.h:550
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
Definition: StateSpace.cpp:393
bool hasDefaultProjection() const
Check if a default projection is available.
Definition: StateSpace.cpp:713
void clearStateSamplerAllocator()
Clear the state sampler allocator (reset to default)
Definition: StateSpace.cpp:795
virtual void copyState(State *destination, const State *source) const =0
Copy a state to another. The memory of source and destination should NOT overlap.
std::vector< ValueLocation > valueLocationsInOrder_
The value locations for all varliables of type double contained in a state; The locations point to va...
Definition: StateSpace.h:557
std::map< std::string, ValueLocation > valueLocationsByName_
All the known value locations, by name. The names of state spaces access the first element of a state...
Definition: StateSpace.h:562
virtual 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:329
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
Definition: StateSpace.cpp:380
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition: StateSpace.cpp:752
State * cloneState(const State *source) const
Clone a state.
Definition: StateSpace.cpp:226
virtual double distance(const State *state1, const State *state2) const =0
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual StateSamplerPtr allocStateSampler() const
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
Definition: StateSpace.cpp:800
StateSpace()
Constructor. Assigns a unique name to the space.
Definition: StateSpace.cpp:84
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
static void List(std::ostream &out)
Print the list of available state space instances.
Definition: StateSpace.cpp:527
bool includes(const StateSpacePtr &other) const
Return true if other is a space included (perhaps equal, perhaps a subspace) in this one.
Definition: StateSpace.cpp:478
const std::map< std::string, ProjectionEvaluatorPtr > & getRegisteredProjections() const
Get all the registered projections.
Definition: StateSpace.cpp:747
virtual void setLongestValidSegmentFraction(double segmentFraction)
When performing discrete validation of motions, the length of the longest segment that does not requi...
Definition: StateSpace.cpp:828
const std::vector< ValueLocation > & getValueLocations() const
Get the locations of values of type double contained in a state from this space. The order of the val...
Definition: StateSpace.cpp:318
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
ProjectionEvaluatorPtr getProjection(const std::string &name) const
Get the projection registered under a specific name.
Definition: StateSpace.cpp:734
const T * as() const
Cast this instance to a desired type.
Definition: StateSpace.h:97
virtual void interpolate(const State *from, const State *to, double t, State *state) const =0
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
virtual State * allocState() const =0
Allocate a state that can store a point in the described space.
double longestValidSegmentFraction_
The fraction of the longest valid segment.
Definition: StateSpace.h:540
virtual void freeState(State *state) const =0
Free the memory of the allocated state.
double maxExtent_
The extent of this space at the time setup() was called.
Definition: StateSpace.h:537
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
Definition: StateSpace.cpp:384
virtual double getMaximumExtent() const =0
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void diagram(std::ostream &out) const
Print a Graphviz digraph that represents the containment diagram for the state space.
Definition: StateSpace.cpp:553
bool hasProjection(const std::string &name) const
Check if a projection with a specified name is available.
Definition: StateSpace.cpp:718
Definition of an abstract state.
Definition: State.h:50
AdvancedStateCopyOperation copyStateData(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS, const State *source)
Copy data from source (state from space sourceS) to dest (state from space destS) on a component by c...
AdvancedStateCopyOperation
The possible outputs for an advanced copy operation.
Definition: StateSpace.h:787
@ ALL_DATA_COPIED
All data was copied.
Definition: StateSpace.h:795
@ SOME_DATA_COPIED
Some data was copied.
Definition: StateSpace.h:792
@ NO_DATA_COPIED
No data was copied.
Definition: StateSpace.h:789
StateSpacePtr operator-(const StateSpacePtr &a, const StateSpacePtr &b)
Construct a compound state space that contains subspaces only from a. If a is compound,...
OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a, const OptimizationObjectivePtr &b)
Given two optimization objectives, returns a MultiOptimizationObjective that combines the two objecti...
std::function< StateSamplerPtr(const StateSpace *)> StateSamplerAllocator
Definition of a function that can allocate a state sampler.
Definition: StateSampler.h:191
OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a)
Given a weighing factor and an optimization objective, returns a MultiOptimizationObjective containin...
Main namespace. Contains everything in this library.
Representation of the address of a substate in a state. This structure stores the indexing informatio...
Definition: StateSpace.h:108
const StateSpace * space
The space that is reached if the chain above is followed on the state space.
Definition: StateSpace.h:117
std::vector< std::size_t > chain
In a complex state space there may be multiple compound state spaces that make up an even larger comp...
Definition: StateSpace.h:114
Representation of the address of a value in a state. This structure stores the indexing information n...
Definition: StateSpace.h:123
SubstateLocation stateLocation
Location of the substate that contains the pointed to value.
Definition: StateSpace.h:125
std::size_t index
The index of the value to be accessed, within the substate location above.
Definition: StateSpace.h:128