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

ompl::base::ConstrainedStateSpace::StateType::StateType ( const ConstrainedStateSpace space)
inline

Constructor. Requires space to setup information about underlying state.

Definition at line 172 of file ConstrainedStateSpace.h.

Member Function Documentation

◆ copy()

void ompl::base::ConstrainedStateSpace::StateType::copy ( const Eigen::Ref< const Eigen::VectorXd > &  other)
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: