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amino
Lightweight Robot Utility Library
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An OMPL state space for an amino scene graph. More...
#include <scene_ompl.h>
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_sg * | get_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_sg * | scene_graph |
const aa_rx_sg_sub * | sub_scene_graph |
struct aa_rx_cl_set * | allowed |
struct aa_mem_region | reg |
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.