Class SphereStateSpace

• Defined in File SphereStateSpace.h

Nested Relationships

Nested Types

• Class SphereStateSpace::StateType

Inheritance Relationships

Base Type

• public ompl::base::CompoundStateSpace (Class CompoundStateSpace)

Class Documentation

class SphereStateSpace : public ompl::base::CompoundStateSpace

Public Functions

SphereStateSpace(double radius = 1.0)

virtual ~SphereStateSpace() override = default

virtual StateSamplerPtr allocDefaultStateSampler() const override

Allocate an instance of the default uniform state sampler for this space.

virtual double getMeasure() const override

Get a measure of the space (this can be thought of as a generalization of volume)

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 isMetricSpace() is true, and its return value will always be between 0 and getMaximumExtent()

virtual State *allocState() const override

Allocate a state that can store a point in the described space.

Eigen::Vector3f toVector(const State *state) const

Protected Attributes

double radius_ = {1.0}

class StateType : public ompl::base::CompoundState

Public Functions

StateType() = default

inline double getTheta() const

inline double getPhi() const

inline void setTheta(double theta)

inline void setPhi(double phi)

inline void setThetaPhi(double theta, double phi)