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
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
void printSettings(std::ostream &out) const override
Print the settings for this state space 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 distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
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....
Definition of an abstract state.
Definition: State.h:50
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
The definition of a state in SO(3) represented as a unit quaternion.
Definition: SO3StateSpace.h:91
A state space representing SO(3). The internal representation is done with quaternions....
Definition: SO3StateSpace.h:83
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
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 sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state such that the expected distance between mean and state is stdDev.
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:78
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void freeState(State *state) const override
Free the memory of the allocated state.
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
State * allocState() const override
Allocate a state that can store a point in the described space.
double z
Z component of quaternion vector.
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
State space sampler for SO(3), using quaternion representation
Definition: SO3StateSpace.h:48
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
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
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 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...
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
@ STATE_SPACE_SO3
ompl::base::SO3StateSpace
Abstract definition of a state space sampler.
Definition: StateSampler.h:65
void setAxisAngle(double ax, double ay, double az, double angle)
Set the quaternion from axis-angle representation. The angle is given in radians.
SO3StateSampler(const StateSpace *space)
Constructor.
Definition: SO3StateSpace.h:51
double x
X component of quaternion vector.
A shared pointer wrapper for ompl::base::StateSampler.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
double norm(const StateType *state) const
Compute the norm of a state.
double w
scalar component of quaternion
double y
Y component of quaternion vector.
void sampleUniform(State *state) override
Sample a state.
void setIdentity()
Set the state to identity – no rotation.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.