SE3StateSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/SE3StateSpace.h"
38 #include "ompl/tools/config/MagicConstants.h"
39 #include <cstring>
40 
42 {
43  auto *state = new StateType();
44  allocStateComponents(state);
45  return state;
46 }
47 
49 {
51 }
52 
54 {
55  class SE3DefaultProjection : public ProjectionEvaluator
56  {
57  public:
58  SE3DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
59  {
60  }
61 
62  unsigned int getDimension() const override
63  {
64  return 3;
65  }
66 
67  void defaultCellSizes() override
68  {
69  cellSizes_.resize(3);
70  bounds_ = space_->as<SE3StateSpace>()->getBounds();
71  cellSizes_[0] = (bounds_.high[0] - bounds_.low[0]) / magic::PROJECTION_DIMENSION_SPLITS;
72  cellSizes_[1] = (bounds_.high[1] - bounds_.low[1]) / magic::PROJECTION_DIMENSION_SPLITS;
73  cellSizes_[2] = (bounds_.high[2] - bounds_.low[2]) / magic::PROJECTION_DIMENSION_SPLITS;
74  }
75 
76  void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override
77  {
78  projection = Eigen::Map<const Eigen::VectorXd>(
79  state->as<SE3StateSpace::StateType>()->as<RealVectorStateSpace::StateType>(0)->values, 3);
80  }
81  };
82 
83  registerDefaultProjection(std::make_shared<SE3DefaultProjection>(this));
84 }
State * allocState() const override
Allocate a state that can store a point in the described space.
void freeState(State *state) const override
Free the memory of the allocated state.
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
Definition: SE3StateSpace.h:53
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
Definition of an abstract state.
Definition: State.h:49
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection...
void freeState(State *state) const override
Free the memory of the allocated state.
A state space representing SE(3)
Definition: SE3StateSpace.h:49
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...