SE3StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SE3_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE3_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO3StateSpace.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
49  class SE3StateSpace : public CompoundStateSpace
50  {
51  public:
54  {
55  public:
56  StateType() = default;
57 
59  double getX() const
60  {
61  return as<RealVectorStateSpace::StateType>(0)->values[0];
62  }
63 
65  double getY() const
66  {
67  return as<RealVectorStateSpace::StateType>(0)->values[1];
68  }
69 
71  double getZ() const
72  {
73  return as<RealVectorStateSpace::StateType>(0)->values[2];
74  }
75 
77  const SO3StateSpace::StateType &rotation() const
78  {
79  return *as<SO3StateSpace::StateType>(1);
80  }
81 
84  {
85  return *as<SO3StateSpace::StateType>(1);
86  }
87 
89  void setX(double x)
90  {
91  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
92  }
93 
95  void setY(double y)
96  {
97  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
98  }
99 
101  void setZ(double z)
102  {
103  as<RealVectorStateSpace::StateType>(0)->values[2] = z;
104  }
105 
107  void setXYZ(double x, double y, double z)
108  {
109  setX(x);
110  setY(y);
111  setZ(z);
112  }
113  };
114 
115  SE3StateSpace()
116  {
117  setName("SE3" + getName());
119  addSubspace(std::make_shared<RealVectorStateSpace>(3), 1.0);
120  addSubspace(std::make_shared<SO3StateSpace>(), 1.0);
121  lock();
122  }
123 
124  ~SE3StateSpace() override = default;
125 
127  void setBounds(const RealVectorBounds &bounds)
128  {
129  as<RealVectorStateSpace>(0)->setBounds(bounds);
130  }
131 
133  const RealVectorBounds &getBounds() const
134  {
135  return as<RealVectorStateSpace>(0)->getBounds();
136  }
137 
138  State *allocState() const override;
139  void freeState(State *state) const override;
140 
141  void registerProjections() override;
142  };
143  }
144 }
145 
146 #endif
void setXYZ(double x, double y, double z)
Set the X, Y and Z components of the state.
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
void setX(double x)
Set the X component of the state.
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:142
void setY(double y)
Set the Y component of the state.
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
void freeState(State *state) const override
Free the memory of the allocated state.
double getZ() const
Get the Z component of the state.
double getY() const
Get the Y component of the state.
@ STATE_SPACE_SE3
ompl::base::SE3StateSpace
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
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:595
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:641
State * allocState() const override
Allocate a state that can store a point in the described space.
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
A state space representing SE(3)
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
Definition: StateSpace.cpp:871
double getX() const
Get the X component of the state.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
void setZ(double z)
Set the Z component of the state.