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SE2StateSpace.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/spaces/SE2StateSpace.h"
38#include "ompl/tools/config/MagicConstants.h"
39#include <cstring>
40
42{
43 auto *state = new StateType();
45 return state;
46}
47
52
54{
55 class SE2DefaultProjection : public ProjectionEvaluator
56 {
57 public:
58 SE2DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
59 {
60 }
61
62 unsigned int getDimension() const override
63 {
64 return 2;
65 }
66
67 void defaultCellSizes() override
68 {
69 cellSizes_.resize(2);
70 bounds_ = space_->as<SE2StateSpace>()->getBounds();
71 cellSizes_[0] = (bounds_.high[0] - bounds_.low[0]) / magic::PROJECTION_DIMENSION_SPLITS;
72 cellSizes_[1] = (bounds_.high[1] - bounds_.low[1]) / magic::PROJECTION_DIMENSION_SPLITS;
73 }
74
75 void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override
76 {
77 projection = Eigen::Map<const Eigen::VectorXd>(
79 }
80 };
81
82 registerDefaultProjection(std::make_shared<SE2DefaultProjection>(this));
83}
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces.
void freeState(State *state) const override
Free the memory of the allocated state.
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition State.h:95
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
double * values
The value of the actual vector in Rn
A state in SE(2): (x, y, yaw)
A state space representing SE(2)
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.
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition StateSpace.h:71
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66