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.
template<class T>
T *	as ()
	Cast this instance to a desired type.

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.

Member Function Documentation

setAxisAngle()

void ompl::base::SO3StateSpace::StateType::setAxisAngle	(	double	ax,
		double	ay,
		double	az,
		double	angle )

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

Definition at line 88 of file SO3StateSpace.cpp.

setIdentity()

void ompl::base::SO3StateSpace::StateType::setIdentity

(

)

Set the state to identity – no rotation.

Definition at line 93 of file SO3StateSpace.cpp.

Member Data Documentation

w

double ompl::base::SO3StateSpace::StateType::w

scalar component of quaternion

Definition at line 109 of file SO3StateSpace.h.

x

double ompl::base::SO3StateSpace::StateType::x

X component of quaternion vector.

Definition at line 100 of file SO3StateSpace.h.

y

double ompl::base::SO3StateSpace::StateType::y

Y component of quaternion vector.

Definition at line 103 of file SO3StateSpace.h.

z

double ompl::base::SO3StateSpace::StateType::z

Z component of quaternion vector.

Definition at line 106 of file SO3StateSpace.h.

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

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