37 #ifndef OMPL_BASE_SPACES_SO2_STATE_SPACE_ 38 #define OMPL_BASE_SPACES_SO2_STATE_SPACE_ 40 #include "ompl/base/StateSpace.h" 86 setName(
"SO2" + getName());
94 virtual unsigned int getDimension()
const;
96 virtual double getMaximumExtent()
const;
98 virtual double getMeasure()
const;
101 virtual void enforceBounds(
State *state)
const;
104 virtual bool satisfiesBounds(
const State *state)
const;
106 virtual void copyState(
State *destination,
const State *source)
const;
108 virtual unsigned int getSerializationLength()
const;
110 virtual void serialize(
void *serialization,
const State *state)
const;
112 virtual void deserialize(
State *state,
const void *serialization)
const;
114 virtual double distance(
const State *state1,
const State *state2)
const;
116 virtual bool equalStates(
const State *state1,
const State *state2)
const;
118 virtual void interpolate(
const State *from,
const State *to,
const double t,
State *state)
const;
122 virtual State* allocState()
const;
124 virtual void freeState(
State *state)
const;
126 virtual double* getValueAddressAtIndex(
State *state,
const unsigned int index)
const;
128 virtual void printState(
const State *state, std::ostream &out)
const;
130 virtual void printSettings(std::ostream &out)
const;
132 virtual void registerProjections();
void setIdentity()
Set the state to identity – no rotation (value = 0.0)
double value
The value of the angle in the interval (-Pi, Pi].
A boost shared pointer wrapper for ompl::base::StateSampler.
SO2StateSampler(const StateSpace *space)
Constructor.
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
The definition of a state in SO(2)
Main namespace. Contains everything in this library.
virtual void sampleUniform(State *state)
Sample a state.
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
State space sampler for SO(2)
Definition of an abstract state.
ompl::base::SO2StateSpace
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Abstract definition of a state space sampler.