1# Available Spaces {#spaces} 2 3## State Spaces 4 5This set of state spaces is included in OMPL: 6 7- R<sup>n</sup> (ompl::base::RealVectorStateSpace), 8- SO(2) (rotation in the plane, ompl::base::SO2StateSpace), 9- SO(3) (rotation in 3D, ompl::base::SO3StateSpace), 10- SE(2) (rotation and translation in the plane, ompl::base::SE2StateSpace), 11- SE(3) (rotation and translation in 3D, ompl::base::SE3StateSpace), 12- Time (representation of time, ompl::base::TimeStateSpace), 13- Discrete (representation of discrete states, ompl::base::DiscreteStateSpace), 14- Dubins (representation of a Dubins car's state space, ompl::base::DubinsStateSpace), 15- ReedsShepp (representation of a Reeds-Shepp car's state space, ompl::base::ReedsSheppStateSpace) and 16- OpenDE (representation of OpenDE states, if the [Open Dynamics Engine][opende] library is available, ompl::control::OpenDEStateSpace). 17- Constrained state spaces (ompl::base::ConstrainedStateSpace) to represent implicitly defined spaces when [planning with constraints](constrainedPlanning.html). There are several derived classes corresponding to different methodologies for dealing with constraints: 18 - ompl::base::ProjectedStateSpace: uses Newton's method to project states in the ambient configuration space onto the constraint manifold. 19 - ompl::base::AtlasStateSpace: a state space that incrementally builds up an atlas approximation of the constraint manifold. 20 - ompl::base::TangentBundleStateSpace: a state space that is derived from the atlas state space and performs some operations lazily. 21 22In addition, the ompl::base::CompoundStateSpace allows users to create arbitrarily complex state spaces out of simpler state spaces. 23 24## Control Spaces 25 26This set of control spaces is included in OMPL: 27 28- R<sup>n</sup> (ompl::control::RealVectorControlSpace). 29- Discrete (ompl::control::DiscreteControlSpace). 30- OpenDE (ompl::control::OpenDEControlSpace). This is an extension that is built only if the [Open Dynamics Engine][opende] library is detected. 31 32[opende]: http://ode.org 33