42 namespace ompl
94 void setAxisAngle(double ax, double ay, double az, double angle);
97 void setIdentity();
118 ~SO3StateSpace() override = default;
123 unsigned int getDimension() const override;
125 double getMaximumExtent() const override;
127 double getMeasure() const override;
135 unsigned int getSerializationLength() const override;
157 void printSettings(std::ostream &out) const override;
159 void registerProjections() override;
State space sampler for SO(3), using quaternion representation
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state such that the expected distance between mean and state is stdDev.
void sampleUniformNear(State *state, const State *near, double distance) override
To sample unit quaternions uniformly within some given distance, we sample a 3-vector from the R^3 ta...
SO3StateSampler(const StateSpace *space)
void sampleUniform(State *state) override
Sample a state.
The definition of a state in SO(3) represented as a unit quaternion.
X component of quaternion vector.
scalar component of quaternion
Z component of quaternion vector.
Set the state to identity – no rotation.
Y component of quaternion vector.
void setAxisAngle(double ax, double ay, double az, double angle)
Set the quaternion from axis-angle representation. The angle is given in radians.
A state space representing SO(3). The internal representation is done with quaternions....
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
State * allocState() const override
Allocate a state that can store a point in the described space.
double norm(const StateType *state) const
Compute the norm of a state.
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
double * getValueAddressAtIndex(State *state, unsigned int index) const override
Many states contain a number of double values. This function provides a means to get the memory addre...
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
void freeState(State *state) const override
Free the memory of the allocated state.
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
A shared pointer wrapper for ompl::base::StateSampler.
Representation of a space in which planning can be performed. Topology specific sampling,...
Define the type of state allocated by this space.
A type assigned for this state space.
void setName(const std::string &name)
Set the name of the state space.
const std::string & getName() const
Get the name of the state space.