State space sampler for SO(3), using quaternion representation. More...
#include <ompl/base/spaces/SO3StateSpace.h>
Public Member Functions  
SO3StateSampler (const StateSpace *space)  
Constructor.  
void  sampleUniform (State *state) override 
Sample a state.  
void  sampleUniformNear (State *state, const State *near, double distance) override 
To sample unit quaternions uniformly within some given distance, we sample a 3vector from the R^3 tangent space. This vector is drawn uniformly random from a 3D ball centered at the origin with radius distance. The vector is then "wrapped" around S^3 to obtain a unit quaternion uniformly distributed around the identity quaternion within given distance. We premultiply this quaternion with the quaternion near to center the distribution around near.  
void  sampleGaussian (State *state, const State *mean, double stdDev) override 
Sample a state such that the expected distance between mean and state is stdDev. More...  
Public Member Functions inherited from ompl::base::StateSampler  
StateSampler (const StateSampler &)=delete  
StateSampler &  operator= (const StateSampler &)=delete 
StateSampler (const StateSpace *space)  
Constructor.  
Additional Inherited Members  
Protected Attributes inherited from ompl::base::StateSampler  
const StateSpace *  space_ 
The state space this sampler samples.  
RNG  rng_ 
An instance of a random number generator.  
Detailed Description
State space sampler for SO(3), using quaternion representation.
Definition at line 47 of file SO3StateSpace.h.
Member Function Documentation
◆ sampleGaussian()

overridevirtual 
Sample a state such that the expected distance between mean and state is stdDev.
To sample a unit quaternion from a Gaussian distribution, we sample a 3vector from the R^3 tangent space using a 3D Gaussian with zero mean and covariance matrix equal to diag(stdDev^2, stdDev^2, stdDev^2). This vector is "wrapped" around S^3 to obtain a Gaussian quaternion with zero mean. We premultiply this quaternion with the quaternion mean to get the desired mean.
Implements ompl::base::StateSampler.
Definition at line 117 of file SO3StateSpace.cpp.
The documentation for this class was generated from the following files:
 ompl/base/spaces/SO3StateSpace.h
 ompl/base/spaces/src/SO3StateSpace.cpp