SO3StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SO3_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SO3_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
48  {
49  public:
51  SO3StateSampler(const StateSpace *space) : StateSampler(space)
52  {
53  }
54 
55  void sampleUniform(State *state) override;
64  void sampleUniformNear(State *state, const State *near, double distance) override;
75  void sampleGaussian(State *state, const State *mean, double stdDev) override;
76  };
77 
82  class SO3StateSpace : public StateSpace
83  {
84  public:
90  class StateType : public State
91  {
92  public:
94  void setAxisAngle(double ax, double ay, double az, double angle);
95 
97  void setIdentity();
98 
100  double x;
101 
103  double y;
104 
106  double z;
107 
109  double w;
110  };
111 
112  SO3StateSpace()
113  {
114  setName("SO3" + getName());
116  }
117 
118  ~SO3StateSpace() override = default;
119 
121  double norm(const StateType *state) const;
122 
123  unsigned int getDimension() const override;
124 
125  double getMaximumExtent() const override;
126 
127  double getMeasure() const override;
128 
129  void enforceBounds(State *state) const override;
130 
131  bool satisfiesBounds(const State *state) const override;
132 
133  void copyState(State *destination, const State *source) const override;
134 
135  unsigned int getSerializationLength() const override;
136 
137  void serialize(void *serialization, const State *state) const override;
138 
139  void deserialize(State *state, const void *serialization) const override;
140 
141  double distance(const State *state1, const State *state2) const override;
142 
143  bool equalStates(const State *state1, const State *state2) const override;
144 
145  void interpolate(const State *from, const State *to, double t, State *state) const override;
146 
147  StateSamplerPtr allocDefaultStateSampler() const override;
148 
149  State *allocState() const override;
150 
151  void freeState(State *state) const override;
152 
153  double *getValueAddressAtIndex(State *state, unsigned int index) const override;
154 
155  void printState(const State *state, std::ostream &out) const override;
156 
157  void printSettings(std::ostream &out) const override;
158 
159  void registerProjections() override;
160  };
161  }
162 }
163 
164 #endif
State space sampler for SO(3), using quaternion representation
Definition: SO3StateSpace.h:48
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state such that the expected distance between mean and state is stdDev.
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...
SO3StateSampler(const StateSpace *space)
Constructor.
Definition: SO3StateSpace.h:51
void sampleUniform(State *state) override
Sample a state.
The definition of a state in SO(3) represented as a unit quaternion.
Definition: SO3StateSpace.h:91
double x
X component of quaternion vector.
double w
scalar component of quaternion
double z
Z component of quaternion vector.
void setIdentity()
Set the state to identity – no rotation.
double y
Y component of quaternion vector.
void setAxisAngle(double ax, double ay, double az, double angle)
Set the quaternion from axis-angle representation. The angle is given in radians.
A state space representing SO(3). The internal representation is done with quaternions....
Definition: SO3StateSpace.h:83
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
State * allocState() const override
Allocate a state that can store a point in the described space.
double norm(const StateType *state) const
Compute the norm of a state.
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
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...
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
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...
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
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 getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
void freeState(State *state) const override
Free the memory of the allocated state.
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....
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...
A shared pointer wrapper for ompl::base::StateSampler.
Abstract definition of a state space sampler.
Definition: StateSampler.h:65
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:78
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
Definition of an abstract state.
Definition: State.h:50
@ STATE_SPACE_SO3
ompl::base::SO3StateSpace
Main namespace. Contains everything in this library.
Definition: AppBase.h:22