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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 {
79 return *as<SO3StateSpace::StateType>(1);
80 }
81
84 {
85 return *as<SO3StateSpace::StateType>(1);
86 }
87
89 void setX(double x)
90 {
91 as<RealVectorStateSpace::StateType>(0)->values[0] = x;
92 }
93
95 void setY(double y)
96 {
97 as<RealVectorStateSpace::StateType>(0)->values[1] = y;
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...
Definition: StateSpace.cpp:871
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)
Definition: SE3StateSpace.h:54
void setX(double x)
Set the X component of the state.
Definition: SE3StateSpace.h:89
SO3StateSpace::StateType & rotation()
Get the rotation component of the state and allow changing it as well.
Definition: SE3StateSpace.h:83
double getZ() const
Get the Z component of the state.
Definition: SE3StateSpace.h:71
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.
Definition: SE3StateSpace.h:95
double getY() const
Get the Y component of the state.
Definition: SE3StateSpace.h:65
void setZ(double z)
Set the Z component of the state.
double getX() const
Get the X component of the state.
Definition: SE3StateSpace.h:59
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
Definition: SE3StateSpace.h:77
A state space representing SE(3)
Definition: SE3StateSpace.h:50
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.
Definition: SO3StateSpace.h:91
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
Definition of an abstract state.
Definition: State.h:50
@ STATE_SPACE_SE3
ompl::base::SE3StateSpace
Main namespace. Contains everything in this library.