42 namespace ompl
94 void setAxisAngle(double ax, double ay, double az, double angle);
97 void setIdentity();
118 ~SO3StateSpace() override = default;
123 unsigned int getDimension() const override;
125 double getMaximumExtent() const override;
127 double getMeasure() const override;
135 unsigned int getSerializationLength() const override;
157 void printSettings(std::ostream &out) const override;
159 void registerProjections() override;
void setName(const std::string &name)
Set the name of the state space.
void freeState(State *state) const override
Free the memory of the allocated state.
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
A type assigned for this state space.
A shared pointer wrapper for ompl::base::StateSampler.
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
A state space representing SO(3). The internal representation is done with quaternions. The distance between states is the angle between quaternions and interpolation is done with slerp.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
SO3StateSampler(const StateSpace *space)
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
void sampleUniform(State *state) override
Sample a state.
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap. ...
const std::string & getName() const
Get the name of the state space.
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
scalar component of quaternion
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Define the type of state allocated by this space.
The definition of a state in SO(3) represented as a unit quaternion.
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Set the state to identity – no rotation.
double norm(const StateType *state) const
Compute the norm of a state.
State space sampler for SO(3), using quaternion representation.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
void setAxisAngle(double ax, double ay, double az, double angle)
Set the quaternion from axis-angle representation. The angle is given in radians. ...
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume) ...
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection...
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state such that the expected distance between mean and state is stdDev.
State * allocState() const override
Allocate a state that can store a point in the described space.
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
void sampleUniformNear(State *state, const State *near, double distance) override
To sample unit quaternions uniformly within some given distance, we sample a 3-vector from the R^3 ta...
Z component of quaternion vector.
Y component of quaternion vector.
X component of quaternion vector.