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:
56  StateType() = default;
57 
59  double getX() const
60  {
61  return as<RealVectorStateSpace::StateType>(0)->values[0];
62  }
63 
65  double getY() const
66  {
67  return as<RealVectorStateSpace::StateType>(0)->values[1];
68  }
69 
71  double getZ() const
72  {
73  return as<RealVectorStateSpace::StateType>(0)->values[2];
74  }
75 
78  {
79  return *as<SO3StateSpace::StateType>(1);
80  }
81 
84  {
85  return *as<SO3StateSpace::StateType>(1);
86  }
87 
89  void setX(double x)
90  {
91  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
92  }
93 
95  void setY(double y)
96  {
97  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
98  }
99 
101  void setZ(double z)
102  {
103  as<RealVectorStateSpace::StateType>(0)->values[2] = z;
104  }
105 
107  void setXYZ(double x, double y, double z)
108  {
109  setX(x);
110  setY(y);
111  setZ(z);
112  }
113  };
114 
115  SE3StateSpace()
116  {
117  setName("SE3" + getName());
119  addSubspace(std::make_shared<RealVectorStateSpace>(3), 1.0);
120  addSubspace(std::make_shared<SO3StateSpace>(), 1.0);
121  lock();
122  }
123 
124  ~SE3StateSpace() override = default;
125 
127  void setBounds(const RealVectorBounds &bounds)
128  {
129  as<RealVectorStateSpace>(0)->setBounds(bounds);
130  }
131 
134  {
135  return as<RealVectorStateSpace>(0)->getBounds();
136  }
137 
138  State *allocState() const override;
139  void freeState(State *state) const override;
140 
141  void registerProjections() override;
142  };
143  }
144 }
145 
146 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:212
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:71
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:83
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:207
double getX() const
Get the X component of the state.
Definition: SE3StateSpace.h:59
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
void setY(double y)
Set the Y component of the state.
Definition: SE3StateSpace.h:95
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:77
ompl::base::SE3StateSpace
void setX(double x)
Set the X component of the state.
Definition: SE3StateSpace.h:89
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.
double getY() const
Get the Y component of the state.
Definition: SE3StateSpace.h:65
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