SE3StateSpace.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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
Definition of a compound state.
Definition: State.h:87
void setXYZ(double x, double y, double z)
Set the X, Y and Z components of the state.
A space to allow the composition of state spaces.
Definition: StateSpace.h:574
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
Definition of an abstract state.
Definition: State.h:50
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
SO3StateSpace::StateType & rotation()
Get the rotation component of the state and allow changing it as well.
Definition: SE3StateSpace.h:83
The definition of a state in SO(3) represented as a unit quaternion.
Definition: SO3StateSpace.h:91
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void setX(double x)
Set the X component of the state.
Definition: SE3StateSpace.h:89
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
Definition: SE3StateSpace.h:54
void setY(double y)
Set the Y component of the state.
Definition: SE3StateSpace.h:95
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
Definition: SE3StateSpace.h:77
void freeState(State *state) const override
Free the memory of the allocated state.
double getZ() const
Get the Z component of the state.
Definition: SE3StateSpace.h:71
double getY() const
Get the Y component of the state.
Definition: SE3StateSpace.h:65
@ STATE_SPACE_SE3
ompl::base::SE3StateSpace
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
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.
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
A state space representing SE(3)
Definition: SE3StateSpace.h:50
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...
Definition: StateSpace.cpp:871
double getX() const
Get the X component of the state.
Definition: SE3StateSpace.h:59
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
void setZ(double z)
Set the Z component of the state.
The lower and upper bounds for an Rn space.