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() const
64  {
65  return as<RealVectorStateSpace::StateType>(0)->values[0];
66  }
67 
69  double getY() const
70  {
71  return as<RealVectorStateSpace::StateType>(0)->values[1];
72  }
73 
75  double getZ() 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()
130  {
131  }
132 
134  void setBounds(const RealVectorBounds &bounds)
135  {
136  as<RealVectorStateSpace>(0)->setBounds(bounds);
137  }
138 
141  {
142  return as<RealVectorStateSpace>(0)->getBounds();
143  }
144 
145  virtual State* allocState() const;
146  virtual void freeState(State *state) const;
147 
148  virtual void registerProjections();
149  };
150  }
151 }
152 
153 #endif
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:203
int type_
A type assigned for this state space.
Definition: StateSpace.h:503
virtual State * allocState() const
Allocate a state that can store a point in the described space.
Definition of a compound state.
Definition: State.h:95
A boost shared pointer wrapper for ompl::base::StateSpace.
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
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
SO3StateSpace::StateType & rotation()
Get the rotation component of the state and allow changing it as well.
Definition: SE3StateSpace.h:87
CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:549
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
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...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
double getZ() const
Get the Z component of the state.
Definition: SE3StateSpace.h:75
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:544
The definition of a state in SO(3) represented as a unit quaternion.
Definition: SO3StateSpace.h:94
ompl::base::SE3StateSpace
const RealVectorBounds & getBounds() const
Get the bounds for this state space.
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
double getX() const
Get the X component of the state.
Definition: SE3StateSpace.h:63
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:855
The lower and upper bounds for an Rn space.
virtual void freeState(State *state) const
Free the memory of the allocated state.
double getY() const
Get the Y component of the state.
Definition: SE3StateSpace.h:69
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:198
CompoundStateSpace()
Construct an empty compound state space.
Definition: StateSpace.cpp:839
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
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
Definition: SE3StateSpace.h:81