37 #include "ompl/base/spaces/SE3StateSpace.h"
38 #include "ompl/tools/config/MagicConstants.h"
63 virtual unsigned int getDimension(
void)
const
68 virtual void defaultCellSizes(
void)
83 registerDefaultProjection(
ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(
new SE3DefaultProjection(
this))));
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
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.
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces...
const T * as(void) const
Cast this instance to a desired type.
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
virtual void freeState(State *state) const
Free the memory of the allocated state.
Definition of an abstract state.
double * values
The value of the actual vector in Rn
virtual void freeState(State *state) const
Free the memory of the allocated state.
The definition of a state in Rn
const T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
A state space representing SE(3)
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...