37 #ifndef OMPL_BASE_SPACES_SE2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE2_STATE_SPACE_
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO2StateSpace.h"
65 return as<RealVectorStateSpace::StateType>(0)->values[0];
71 return as<RealVectorStateSpace::StateType>(0)->values[1];
79 return as<SO2StateSpace::StateType>(1)->value;
85 as<RealVectorStateSpace::StateType>(0)->values[0] = x;
91 as<RealVectorStateSpace::StateType>(0)->values[1] = y;
106 as<SO2StateSpace::StateType>(1)->value = yaw;
121 virtual ~SE2StateSpace(
void)
128 as<RealVectorStateSpace>(0)->
setBounds(bounds);
134 return as<RealVectorStateSpace>(0)->
getBounds();