State space sampler for SO(3), using quaternion representation
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#include <ompl/base/spaces/SO3StateSpace.h>
Public Member Functions | |
| SO3StateSampler (const StateSpace *space) | |
| Constructor. | |
| void | sampleUniform (State *state) override |
| Sample a state. | |
| 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 tangent space. This vector is drawn uniformly random from a 3D ball centered at the origin with radius distance. The vector is then "wrapped" around S^3 to obtain a unit quaternion uniformly distributed around the identity quaternion within given distance. We pre-multiply this quaternion with the quaternion near to center the distribution around near. | |
| void | sampleGaussian (State *state, const State *mean, double stdDev) override |
| Sample a state such that the expected distance between mean and state is stdDev. More... | |
 Public Member Functions inherited from ompl::base::StateSampler | |
| StateSampler (const StateSampler &)=delete | |
| StateSampler & | operator= (const StateSampler &)=delete |
| StateSampler (const StateSpace *space) | |
| Constructor. | |
Additional Inherited Members | |
| Protected Attributes inherited from ompl::base::StateSampler | |
| const StateSpace * | space_ |
| The state space this sampler samples. | |
| RNG | rng_ |
| An instance of a random number generator. | |
Detailed Description
State space sampler for SO(3), using quaternion representation
Definition at line 111 of file SO3StateSpace.h.
Member Function Documentation
◆ sampleGaussian()
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overridevirtual |
Sample a state such that the expected distance between mean and state is stdDev.
To sample a unit quaternion from a Gaussian distribution, we sample a 3-vector from the R^3 tangent space using a 3D Gaussian with zero mean and covariance matrix equal to diag(stdDev^2, stdDev^2, stdDev^2). This vector is "wrapped" around S^3 to obtain a Gaussian quaternion with zero mean. We pre-multiply this quaternion with the quaternion mean to get the desired mean.
Implements ompl::base::StateSampler.
Definition at line 119 of file SO3StateSpace.cpp.
The documentation for this class was generated from the following files:
- ompl/base/spaces/SO3StateSpace.h
- ompl/base/spaces/src/SO3StateSpace.cpp