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<div class="title">CForestStateSpaceWrapper.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2014, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Authors: Mark Moll */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/geometric/planners/cforest/CForest.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a7189dd4f4d8a1be09e3e18cb9b53a647"> 40</a></span> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">ompl::base::StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a7189dd4f4d8a1be09e3e18cb9b53a647">ompl::base::CForestStateSpaceWrapper::allocDefaultStateSampler</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">auto</span> sampler(std::make_shared<CForestStateSampler>(<span class="keyword">this</span>, space_-><a class="code" href="classompl_1_1base_1_1StateSpace.html#a85423c93ff1f5dfca07d3b27ef58ef61">allocDefaultStateSampler</a>()));</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  cforest_->addSampler(sampler);</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">return</span> sampler;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> }</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a66be13e51b2ab78a34db525432396302"> 47</a></span> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">ompl::base::StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a66be13e51b2ab78a34db525432396302">ompl::base::CForestStateSpaceWrapper::allocStateSampler</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keyword">auto</span> sampler(std::make_shared<CForestStateSampler>(<span class="keyword">this</span>, space_->allocStateSampler()));</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  cforest_->addSampler(sampler);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">return</span> sampler;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> }</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aa36dfbc0119ab4514dda12806a2c75ab"> 54</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aa36dfbc0119ab4514dda12806a2c75ab">ompl::base::CForestStateSpaceWrapper::setup</a>()</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> {</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  space_->setup();</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  maxExtent_ = space_->getMaximumExtent();</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  longestValidSegmentFraction_ = space_->getLongestValidSegmentFraction();</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  longestValidSegmentCountFactor_ = space_->getValidSegmentCountFactor();</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  longestValidSegment_ = space_->getLongestValidSegmentLength();</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  projections_ = space_->getRegisteredProjections();</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  params_ = space_->params();</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  valueLocationsInOrder_ = space_->getValueLocations();</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  valueLocationsByName_ = space_->getValueLocationsByName();</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  substateLocationsByName_ = space_->getSubstateLocationsByName();</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a7189dd4f4d8a1be09e3e18cb9b53a647"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a7189dd4f4d8a1be09e3e18cb9b53a647">ompl::base::CForestStateSpaceWrapper::allocDefaultStateSampler</a></div><div class="ttdeci">StateSamplerPtr allocDefaultStateSampler() const override</div><div class="ttdoc">Allocate an instance of the default uniform state sampler for this space.</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8cpp_source.html#l00040">CForestStateSpaceWrapper.cpp:40</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_aa36dfbc0119ab4514dda12806a2c75ab"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#aa36dfbc0119ab4514dda12806a2c75ab">ompl::base::CForestStateSpaceWrapper::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform final setup steps. This function is automatically called by the SpaceInformation....</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8cpp_source.html#l00054">CForestStateSpaceWrapper.cpp:54</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CForestStateSpaceWrapper_html_a66be13e51b2ab78a34db525432396302"><div class="ttname"><a href="classompl_1_1base_1_1CForestStateSpaceWrapper.html#a66be13e51b2ab78a34db525432396302">ompl::base::CForestStateSpaceWrapper::allocStateSampler</a></div><div class="ttdeci">StateSamplerPtr allocStateSampler() const override</div><div class="ttdoc">Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...</div><div class="ttdef"><b>Definition:</b> <a href="CForestStateSpaceWrapper_8cpp_source.html#l00047">CForestStateSpaceWrapper.cpp:47</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSamplerPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSampler.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a85423c93ff1f5dfca07d3b27ef58ef61"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a85423c93ff1f5dfca07d3b27ef58ef61">ompl::base::StateSpace::allocDefaultStateSampler</a></div><div class="ttdeci">virtual StateSamplerPtr allocDefaultStateSampler() const =0</div><div class="ttdoc">Allocate an instance of the default uniform state sampler for this space.</div></div>
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