Re: [ompl-users] Short Questions regarding CompoundStateSpace

[Mark M. <mar...@gm...>]

You are missing a cast:

base::CompoundStateSpace::StateType* cstate = state->as<base::CompoundStateSpace::StateType>();
// first subspace
cstate->as<base::RealVectorStateSpace::StateType>(0)->values[0] = 0.1;
// second subspace
cstate->as<base::RealVectorStateSpace::StateType>(1)->values[0] = 0.1;

Since all the state components are double values, you could also use the following approach to avoid the casts:

base::ScopedState scopedState(space);
// first component of first subspace
scopedState[0] = .1;
// first component of second subspace
scopedState[2] = .1;

See http://ompl.kavrakilab.org/classompl_1_1base_1_1ScopedState.html.

On Jul 12, 2013, at 12:40 PM, Sören Jentzsch <jen...@in...> wrote:

> Hello OMPL-Users,
> 
> I need to define a CompoundStateSpace with several StateSpaces but can't 
> read/write certain subspaces appropriately. As an easy example take the 
> following code:
>     base::StateSpacePtr spaceRobot(new base::RealVectorStateSpace(2));
>     base::StateSpacePtr spaceObject1(new base::RealVectorStateSpace(2));
>     base::StateSpacePtr space = spaceRobot + spaceObject1;
>     base::State* state = space->allocState();
> For me the following questions came up:
> 
> 1) How can I access both of the subspaces and define each values? 
> "state->as<base::RealVectorStateSpace::StateType>()->values[0] = 0.1"? 
> But how do I access the second subspace? The function "as" won't take 
> any arguments.
> 
> 2) As soon as I write something like 
> "state->as<base::RealVectorStateSpace::StateType>()->values[0] = 0.1;" I 
> can't print the state anymore. How did I corrupt the CompoundState? How 
> can I then access the data or use the StateSpaces to print certain 
> subspaces?
> 
> I spend some hours dealing with these issues, also I did not find any 
> helpful documentation online, so I consulted this mailing list. Thanks 
> in advance for your help and keep up this good work!
> 
> Greetings from Munich
> Sören Jentzsch
> 
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-- 
Mark Moll