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...

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 198 of file ConstrainedStateSpace.h.

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