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: