ompl::base::ConstrainedStateSpace::StateType Class Reference

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>

Inheritance diagram for ompl::base::ConstrainedStateSpace::StateType:

Public Member Functions

 StateType (const ConstrainedStateSpace *space)
 Constructor. Requires space to setup information about underlying state.
 
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.
 
- Public Member Functions inherited from ompl::base::WrapperStateSpace::StateType
 StateType (State *state)
 Constructor. Takes a reference state to the underlying state.
 
const StategetState () const
 Get a const pointer to the underlying state.
 
StategetState ()
 Get a pointer to the underlying state.
 
- Public Member Functions inherited from ompl::base::State
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

- Protected Attributes inherited from ompl::base::WrapperStateSpace::StateType
Statestate_
 Underlying state.
 

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 166 of file ConstrainedStateSpace.h.


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