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 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,...
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....
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.
A state space representing SO(3). The internal representation is done with quaternions....
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.
Define the type of state allocated by this space.
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.
Z component of quaternion vector.
const std::string & getName() const
Get the name of the state space.
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
void setName(const std::string &name)
Set the name of the state space.
A type assigned for this state space.
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.
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)
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.
scalar component of quaternion
Y component of quaternion vector.
void sampleUniform(State *state) override
Sample a state.
Set the state to identity – no rotation.