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SE3StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SE3_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE3_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO3StateSpace.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
48 
51  {
52  public:
53 
56  {
57  public:
59  {
60  }
61 
63  double getX(void) const
64  {
65  return as<RealVectorStateSpace::StateType>(0)->values[0];
66  }
67 
69  double getY(void) const
70  {
71  return as<RealVectorStateSpace::StateType>(0)->values[1];
72  }
73 
75  double getZ(void) const
76  {
77  return as<RealVectorStateSpace::StateType>(0)->values[2];
78  }
79 
82  {
83  return *as<SO3StateSpace::StateType>(1);
84  }
85 
88  {
89  return *as<SO3StateSpace::StateType>(1);
90  }
91 
93  void setX(double x)
94  {
95  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
96  }
97 
99  void setY(double y)
100  {
101  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
102  }
103 
105  void setZ(double z)
106  {
107  as<RealVectorStateSpace::StateType>(0)->values[2] = z;
108  }
109 
111  void setXYZ(double x, double y, double z)
112  {
113  setX(x);
114  setY(y);
115  setZ(z);
116  }
117 
118  };
119 
121  {
122  setName("SE3" + getName());
126  lock();
127  }
128 
129  virtual ~SE3StateSpace(void)
130  {
131  }
132 
134  void setBounds(const RealVectorBounds &bounds)
135  {
136  as<RealVectorStateSpace>(0)->setBounds(bounds);
137  }
138 
140  const RealVectorBounds& getBounds(void) const
141  {
142  return as<RealVectorStateSpace>(0)->getBounds();
143  }
144 
145  virtual State* allocState(void) const;
146  virtual void freeState(State *state) const;
147 
148  virtual void registerProjections(void);
149  };
150  }
151 }
152 
153 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:192
double getY(void) const
Get the Y component of the state.
Definition: SE3StateSpace.h:69
int type_
A type assigned for this state space.
Definition: StateSpace.h:497
Definition of a compound state.
Definition: State.h:95
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
A boost shared pointer wrapper for ompl::base::StateSpace.
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
Definition: SE3StateSpace.h:55
A state space representing SO(3). The internal representation is done with quaternions. The distance between states is the angle between quaternions and interpolation is done with slerp.
Definition: SO3StateSpace.h:84
const RealVectorBounds & getBounds(void) const
Get the bounds for this state space.
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:543
double getX(void) const
Get the X component of the state.
Definition: SE3StateSpace.h:63
void setZ(double z)
Set the Z component of the state.
void setBounds(const RealVectorBounds &bounds)
Set the bounds of this state space. This defines the range of the space in which sampling is performe...
void setY(double y)
Set the Y component of the state.
Definition: SE3StateSpace.h:99
A space to allow the composition of state spaces.
Definition: StateSpace.h:538
The definition of a state in SO(3) represented as a unit quaternion.
Definition: SO3StateSpace.h:94
const std::string & getName(void) const
Get the name of the state space.
Definition: StateSpace.cpp:187
ompl::base::SE3StateSpace
void setX(double x)
Set the X component of the state.
Definition: SE3StateSpace.h:93
A state space representing Rn. The distance function is the L2 norm.
Definition of an abstract state.
Definition: State.h:50
void lock(void)
Lock this state space. This means no further spaces can be added as components. This function can be ...
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
Definition: StateSpace.cpp:839
The lower and upper bounds for an Rn space.
virtual void freeState(State *state) const
Free the memory of the allocated state.
const SO3StateSpace::StateType & rotation(void) const
Get the rotation component of the state.
Definition: SE3StateSpace.h:81
void setXYZ(double x, double y, double z)
Set the X, Y and Z components of the state.
A state space representing SE(3)
Definition: SE3StateSpace.h:50
SO3StateSpace::StateType & rotation(void)
Get the rotation component of the state and allow changing it as well.
Definition: SE3StateSpace.h:87
double getZ(void) const
Get the Z component of the state.
Definition: SE3StateSpace.h:75