amino
Lightweight Robot Utility Library
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amino::sgStateSpace Class Reference

An OMPL state space for an amino scene graph. More...

#include <scene_ompl.h>

Inheritance diagram for amino::sgStateSpace:

Public Member Functions

 sgStateSpace (const struct aa_rx_sg_sub *sub_sg)
 Create a state space for the sub-scenegraph `sub_sg'.
 
virtual ~sgStateSpace ()
 Destroy the state space.
 
const aa_rx_sgget_scene_graph () const
 Return the scene graph for the state space.
 
size_t config_count_all () const
 Return the number of configuration variables in the full scenegraph.
 
size_t config_count_subset () const
 Return the number of configuration variables in the sub-scenegraph.
 
size_t frame_count () const
 Return the number of frames in the full scenegraph.
 
void allow_config (double *q)
 Mark configuration q as allowed.
 
void extract_state (const double *q_all, double *q_set) const
 Retrieve the sub-scenegraph configuration `q_set' from the full scenegraph array `q_all'.
 
void extract_state (const double *q_all, StateType *state) const
 
void insert_state (const double *q_set, double *q_all) const
 
void insert_state (const StateType *state, double *q_all) const
 
void copy_state (const double *q_set, StateType *state)
 

Public Attributes

const aa_rx_sgscene_graph
 
const aa_rx_sg_sub * sub_scene_graph
 
struct aa_rx_cl_set * allowed
 
struct aa_mem_region reg
 

Detailed Description

An OMPL state space for an amino scene graph.

The OMPL state space variables correspond to the scene graph configuration space.

Definition at line 72 of file scene_ompl.h.


The documentation for this class was generated from the following file: