The definition of a state in SO(3) represented as a unit quaternion. More...

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 154 of file SO3StateSpace.h.

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

Public Member Functions