ompl/base/spaces/src/SE3StateSpace.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/spaces/SE3StateSpace.h"
00038 #include "ompl/tools/config/MagicConstants.h"
00039 #include <cstring>
00040 
00041 ompl::base::State* ompl::base::SE3StateSpace::allocState() const
00042 {
00043     StateType *state = new StateType();
00044     allocStateComponents(state);
00045     return state;
00046 }
00047 
00048 void ompl::base::SE3StateSpace::freeState(State *state) const
00049 {
00050     CompoundStateSpace::freeState(state);
00051 }
00052 
00053 void ompl::base::SE3StateSpace::registerProjections()
00054 {
00055     class SE3DefaultProjection : public ProjectionEvaluator
00056     {
00057     public:
00058 
00059         SE3DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
00060         {
00061         }
00062 
00063         virtual unsigned int getDimension() const
00064         {
00065             return 3;
00066         }
00067 
00068         virtual void defaultCellSizes()
00069         {
00070             cellSizes_.resize(3);
00071             bounds_ = space_->as<SE3StateSpace>()->getBounds();
00072             cellSizes_[0] = (bounds_.high[0] - bounds_.low[0]) / magic::PROJECTION_DIMENSION_SPLITS;
00073             cellSizes_[1] = (bounds_.high[1] - bounds_.low[1]) / magic::PROJECTION_DIMENSION_SPLITS;
00074             cellSizes_[2] = (bounds_.high[2] - bounds_.low[2]) / magic::PROJECTION_DIMENSION_SPLITS;
00075         }
00076 
00077         virtual void project(const State *state, EuclideanProjection &projection) const
00078         {
00079             memcpy(&projection(0), state->as<SE3StateSpace::StateType>()->as<RealVectorStateSpace::StateType>(0)->values, 3 * sizeof(double));
00080         }
00081     };
00082 
00083     registerDefaultProjection(ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(new SE3DefaultProjection(this))));
00084 }
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