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src/ompl/base/spaces/SO3StateSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SPACES_SO3_STATE_SPACE_
00038 #define OMPL_BASE_SPACES_SO3_STATE_SPACE_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 
00042 namespace ompl
00043 {
00044     namespace base
00045     {
00046 
00048         class SO3StateSampler : public StateSampler
00049         {
00050         public:
00051 
00053             SO3StateSampler(const StateSpace *space) : StateSampler(space)
00054             {
00055             }
00056 
00057             virtual void sampleUniform(State *state);
00066             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00074             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00075         };
00076 
00081         class SO3StateSpace : public StateSpace
00082         {
00083         public:
00084 
00085 
00091             class StateType : public State
00092             {
00093             public:
00094 
00096                 void setAxisAngle(double ax, double ay, double az, double angle);
00097 
00099                 void setIdentity(void);
00100 
00102                 double x;
00103 
00105                 double y;
00106 
00108                 double z;
00109 
00111                 double w;
00112             };
00113 
00114             SO3StateSpace(void) : StateSpace()
00115             {
00116                 setName("SO3" + getName());
00117                 type_ = STATE_SPACE_SO3;
00118             }
00119 
00120             virtual ~SO3StateSpace(void)
00121             {
00122             }
00123 
00125             double norm(const StateType *state) const;
00126 
00127             virtual unsigned int getDimension(void) const;
00128 
00129             virtual double getMaximumExtent(void) const;
00130 
00131             virtual void enforceBounds(State *state) const;
00132 
00133             virtual bool satisfiesBounds(const State *state) const;
00134 
00135             virtual void copyState(State *destination, const State *source) const;
00136 
00137             virtual unsigned int getSerializationLength(void) const;
00138 
00139             virtual void serialize(void *serialization, const State *state) const;
00140 
00141             virtual void deserialize(State *state, const void *serialization) const;
00142 
00143             virtual double distance(const State *state1, const State *state2) const;
00144 
00145             virtual bool equalStates(const State *state1, const State *state2) const;
00146 
00147             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00148 
00149             virtual StateSamplerPtr allocDefaultStateSampler(void) const;
00150 
00151             virtual State* allocState(void) const;
00152 
00153             virtual void freeState(State *state) const;
00154 
00155             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
00156 
00157             virtual void printState(const State *state, std::ostream &out) const;
00158 
00159             virtual void printSettings(std::ostream &out) const;
00160 
00161             virtual void registerProjections(void);
00162         };
00163     }
00164 }
00165 
00166 #endif
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