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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
44namespace ompl
45{
46 namespace base
47 {
50 {
51 public:
54 {
55 public:
56 StateType() = default;
57
59 double getX() const
60 {
61 return as<RealVectorStateSpace::StateType>(0)->values[0];
62 }
63
65 double getY() const
66 {
67 return as<RealVectorStateSpace::StateType>(0)->values[1];
68 }
69
71 double getZ() const
72 {
73 return as<RealVectorStateSpace::StateType>(0)->values[2];
74 }
75
78 {
80 }
81
87
89 void setX(double x)
90 {
92 }
93
95 void setY(double y)
96 {
98 }
99
101 void setZ(double z)
102 {
103 as<RealVectorStateSpace::StateType>(0)->values[2] = z;
104 }
105
107 void setXYZ(double x, double y, double z)
108 {
109 setX(x);
110 setY(y);
111 setZ(z);
112 }
113 };
114
116 {
117 setName("SE3" + getName());
119 addSubspace(std::make_shared<RealVectorStateSpace>(3), 1.0);
120 addSubspace(std::make_shared<SO3StateSpace>(), 1.0);
121 lock();
122 }
123
124 ~SE3StateSpace() override = default;
125
127 void setBounds(const RealVectorBounds &bounds)
128 {
129 as<RealVectorStateSpace>(0)->setBounds(bounds);
130 }
131
134 {
135 return as<RealVectorStateSpace>(0)->getBounds();
136 }
137
138 State *allocState() const override;
139 void freeState(State *state) const override;
140
141 void registerProjections() override;
142 };
143 }
144}
145
146#endif
A space to allow the composition of state spaces.
Definition StateSpace.h:574
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...
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
Definition of a compound state.
Definition State.h:87
The lower and upper bounds for an Rn space.
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
void setX(double x)
Set the X component of the state.
SO3StateSpace::StateType & rotation()
Get the rotation component of the state and allow changing it as well.
double getZ() const
Get the Z component of the state.
void setXYZ(double x, double y, double z)
Set the X, Y and Z components of the state.
void setY(double y)
Set the Y component of the state.
double getY() const
Get the Y component of the state.
void setZ(double z)
Set the Z component of the state.
double getX() const
Get the X component of the state.
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
A state space representing SE(3)
State * allocState() const override
Allocate a state that can store a point in the described space.
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
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 freeState(State *state) const override
Free the memory of the allocated state.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
The definition of a state in SO(3) represented as a unit quaternion.
int type_
A type assigned for this state space.
Definition StateSpace.h:531
T * as()
Cast this instance to a desired type.
Definition StateSpace.h:87
void setName(const std::string &name)
Set the name of the state space.
const std::string & getName() const
Get the name of the state space.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
@ STATE_SPACE_SE3
ompl::base::SE3StateSpace
Main namespace. Contains everything in this library.