SO3StateSpace.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_SPACES_SO3_STATE_SPACE_
#define OMPL_BASE_SPACES_SO3_STATE_SPACE_
 
#include "ompl/base/StateSpace.h"
 
namespace ompl
{
    namespace base
    {
        class SO3StateSampler : public StateSampler
        {
        public:
            SO3StateSampler(const StateSpace *space) : StateSampler(space)
            {
            }
 
            void sampleUniform(State *state) override;
            void sampleUniformNear(State *state, const State *near, double distance) override;
            void sampleGaussian(State *state, const State *mean, double stdDev) override;
        };

        class SO3StateSpace : public StateSpace
        {
        public:
            class StateType : public State
            {
            public:
                void setAxisAngle(double ax, double ay, double az, double angle);

                void setIdentity();

                double x;

                double y;

                double z;

                double w;
            };
 
            SO3StateSpace()
            {
                setName("SO3" + getName());
                type_ = STATE_SPACE_SO3;
            }
 
            ~SO3StateSpace() override = default;

            double norm(const StateType *state) const;
 
            unsigned int getDimension() const override;
 
            double getMaximumExtent() const override;
 
            double getMeasure() const override;
 
            void enforceBounds(State *state) const override;
 
            bool satisfiesBounds(const State *state) const override;
 
            void copyState(State *destination, const State *source) const override;
 
            unsigned int getSerializationLength() const override;
 
            void serialize(void *serialization, const State *state) const override;
 
            void deserialize(State *state, const void *serialization) const override;
 
            double distance(const State *state1, const State *state2) const override;
 
            bool equalStates(const State *state1, const State *state2) const override;
 
            void interpolate(const State *from, const State *to, double t, State *state) const override;
 
            StateSamplerPtr allocDefaultStateSampler() const override;
 
            State *allocState() const override;
 
            void freeState(State *state) const override;
 
            double *getValueAddressAtIndex(State *state, unsigned int index) const override;
 
            void printState(const State *state, std::ostream &out) const override;
 
            void printSettings(std::ostream &out) const override;
 
            void registerProjections() override;
        };
    }  // namespace base
}  // namespace ompl
 
#endif