SE3StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SE3_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE3_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO3StateSpace.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
50  {
51  public:
54  {
55  public:
57  {
58  }
59 
61  double getX() const
62  {
63  return as<RealVectorStateSpace::StateType>(0)->values[0];
64  }
65 
67  double getY() const
68  {
69  return as<RealVectorStateSpace::StateType>(0)->values[1];
70  }
71 
73  double getZ() const
74  {
75  return as<RealVectorStateSpace::StateType>(0)->values[2];
76  }
77 
80  {
81  return *as<SO3StateSpace::StateType>(1);
82  }
83 
86  {
87  return *as<SO3StateSpace::StateType>(1);
88  }
89 
91  void setX(double x)
92  {
93  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
94  }
95 
97  void setY(double y)
98  {
99  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
100  }
101 
103  void setZ(double z)
104  {
105  as<RealVectorStateSpace::StateType>(0)->values[2] = z;
106  }
107 
109  void setXYZ(double x, double y, double z)
110  {
111  setX(x);
112  setY(y);
113  setZ(z);
114  }
115  };
116 
118  {
119  setName("SE3" + getName());
121  addSubspace(std::make_shared<RealVectorStateSpace>(3), 1.0);
122  addSubspace(std::make_shared<SO3StateSpace>(), 1.0);
123  lock();
124  }
125 
126  ~SE3StateSpace() override = default;
127 
129  void setBounds(const RealVectorBounds &bounds)
130  {
131  as<RealVectorStateSpace>(0)->setBounds(bounds);
132  }
133 
136  {
137  return as<RealVectorStateSpace>(0)->getBounds();
138  }
139 
140  State *allocState() const override;
141  void freeState(State *state) const override;
142 
143  void registerProjections() override;
144  };
145  }
146 }
147 
148 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:214
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition of a compound state.
Definition: State.h:86
double getZ() const
Get the Z component of the state.
Definition: SE3StateSpace.h:73
void freeState(State *state) const override
Free the memory of the allocated state.
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
Definition: SE3StateSpace.h:53
SO3StateSpace::StateType & rotation()
Get the rotation component of the state and allow changing it as well.
Definition: SE3StateSpace.h:85
void setZ(double z)
Set the Z component of the state.
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:209
double getX() const
Get the X component of the state.
Definition: SE3StateSpace.h:61
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
void setY(double y)
Set the Y component of the state.
Definition: SE3StateSpace.h:97
A space to allow the composition of state spaces.
Definition: StateSpace.h:573
The definition of a state in SO(3) represented as a unit quaternion.
Definition: SO3StateSpace.h:90
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
Definition: SE3StateSpace.h:79
ompl::base::SE3StateSpace
void setX(double x)
Set the X component of the state.
Definition: SE3StateSpace.h:91
Definition of an abstract state.
Definition: State.h:49
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection...
The lower and upper bounds for an Rn space.
CompoundStateSpace()
Construct an empty compound state space.
double getY() const
Get the Y component of the state.
Definition: SE3StateSpace.h:67
void setXYZ(double x, double y, double z)
Set the X, Y and Z components of the state.
A state space representing SE(3)
Definition: SE3StateSpace.h:49