ompl::base::SO3StateSpace::StateType Class Reference

The definition of a state in SO(3) represented as a unit quaternion. More...

`#include <ompl/base/spaces/SO3StateSpace.h>`

Inheritance diagram for ompl::base::SO3StateSpace::StateType:

## Public Member Functions | |

void | setAxisAngle (double ax, double ay, double az, double angle) |

Set the quaternion from axis-angle representation. The angle is given in radians. | |

void | setIdentity () |

Set the state to identity – no rotation. | |

Public Member Functions inherited from ompl::base::State | |

template<class T > | |

const T * | as () const |

Cast this instance to a desired type. More... | |

template<class T > | |

T * | as () |

Cast this instance to a desired type. More... | |

## Public Attributes | |

double | x |

X component of quaternion vector. | |

double | y |

Y component of quaternion vector. | |

double | z |

Z component of quaternion vector. | |

double | w |

scalar component of quaternion | |

## Detailed Description

The definition of a state in SO(3) represented as a unit quaternion.

- Note
- The order of the elements matters in this definition for the SO3StateUniformSampler::sample() function.

Definition at line 90 of file SO3StateSpace.h.

The documentation for this class was generated from the following files:

- ompl/base/spaces/SO3StateSpace.h
- ompl/base/spaces/src/SO3StateSpace.cpp