A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and efficiency of various Constraint related operations, this State inherits from Eigen::Map<Eigen::VectorXd>, mapping the underlying dense double vector into an Eigen::VectorXd. Note that this state type inherits from WrapperStateSpace::StateType, and as such the underlying state can be accessed by getState(). More...
#include <ompl/base/spaces/constraint/ConstrainedStateSpace.h>

Public Member Functions | |
StateType (const ConstrainedStateSpace *space) | |
Constructor. Requires space to setup information about underlying state. More... | |
void | copy (const Eigen::Ref< const Eigen::VectorXd > &other) |
Copy the contents from a vector into this state. Uses the underlying copy operator used by Eigen for dense vectors. More... | |
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StateType (State *state) | |
Constructor. Takes a reference state to the underlying state. More... | |
const State * | getState () const |
Get a const pointer to the underlying state. More... | |
State * | getState () |
Get a pointer to the underlying state. More... | |
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template<class T > | |
const T * | as () const |
Cast this instance to a desired type. More... | |
template<class T > | |
T * | as () |
Cast this instance to a desired type. More... | |
Additional Inherited Members | |
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State * | state_ |
Underlying state. More... | |
Detailed Description
A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and efficiency of various Constraint related operations, this State inherits from Eigen::Map<Eigen::VectorXd>, mapping the underlying dense double vector into an Eigen::VectorXd. Note that this state type inherits from WrapperStateSpace::StateType, and as such the underlying state can be accessed by getState().
Definition at line 168 of file ConstrainedStateSpace.h.
Constructor & Destructor Documentation
◆ StateType()
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inline |
Constructor. Requires space to setup information about underlying state.
Definition at line 172 of file ConstrainedStateSpace.h.
Member Function Documentation
◆ copy()
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inline |
Copy the contents from a vector into this state. Uses the underlying copy operator used by Eigen for dense vectors.
Definition at line 181 of file ConstrainedStateSpace.h.
The documentation for this class was generated from the following file:
- ompl/base/spaces/constraint/ConstrainedStateSpace.h