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MobiusStateSpace.cpp
93void MobiusStateSpace::interpolate(const State *from, const State *to, double t, State *state) const
113 components_[0]->interpolate(cfrom->components[0], cto->components[0], t, cstate->components[0]);
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces.
Definition StateSpace.cpp:1147
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...
Definition StateSpace.cpp:1068
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....
Definition StateSpace.cpp:1109
std::vector< double > weights_
The weight assigned to each component of the state space when computing the compound distance.
Definition StateSpace.h:741
std::vector< StateSpacePtr > components_
The state spaces that make up the compound state space.
Definition StateSpace.h:735
The definition of a state (u,v) in the Mobius strip state space. The variable u is the position on th...
Definition MobiusStateSpace.h:61
virtual State * allocState() const override
Allocate a state that can store a point in the described space.
Definition MobiusStateSpace.cpp:137
virtual 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....
Definition MobiusStateSpace.cpp:93
virtual 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...
Definition MobiusStateSpace.cpp:62
A state space representing Rn. The distance function is the L2 norm.
Definition RealVectorStateSpace.h:74
A shared pointer wrapper for ompl::base::StateSpace.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55