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SO3StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SO3_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SO3_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
46 
49  {
50  public:
51 
53  SO3StateSampler(const StateSpace *space) : StateSampler(space)
54  {
55  }
56 
57  virtual void sampleUniform(State *state);
66  virtual void sampleUniformNear(State *state, const State *near, const double distance);
74  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
75  };
76 
81  class SO3StateSpace : public StateSpace
82  {
83  public:
84 
85 
91  class StateType : public State
92  {
93  public:
94 
96  void setAxisAngle(double ax, double ay, double az, double angle);
97 
99  void setIdentity(void);
100 
102  double x;
103 
105  double y;
106 
108  double z;
109 
111  double w;
112  };
113 
114  SO3StateSpace(void) : StateSpace()
115  {
116  setName("SO3" + getName());
118  }
119 
120  virtual ~SO3StateSpace(void)
121  {
122  }
123 
125  double norm(const StateType *state) const;
126 
127  virtual unsigned int getDimension(void) const;
128 
129  virtual double getMaximumExtent(void) const;
130 
131  virtual void enforceBounds(State *state) const;
132 
133  virtual bool satisfiesBounds(const State *state) const;
134 
135  virtual void copyState(State *destination, const State *source) const;
136 
137  virtual unsigned int getSerializationLength(void) const;
138 
139  virtual void serialize(void *serialization, const State *state) const;
140 
141  virtual void deserialize(State *state, const void *serialization) const;
142 
143  virtual double distance(const State *state1, const State *state2) const;
144 
145  virtual bool equalStates(const State *state1, const State *state2) const;
146 
147  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
148 
149  virtual StateSamplerPtr allocDefaultStateSampler(void) const;
150 
151  virtual State* allocState(void) const;
152 
153  virtual void freeState(State *state) const;
154 
155  virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
156 
157  virtual void printState(const State *state, std::ostream &out) const;
158 
159  virtual void printSettings(std::ostream &out) const;
160 
161  virtual void registerProjections(void);
162  };
163  }
164 }
165 
166 #endif