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);
00077             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00078         };
00079 
00084         class SO3StateSpace : public StateSpace
00085         {
00086         public:
00087 
00088 
00094             class StateType : public State
00095             {
00096             public:
00097 
00099                 void setAxisAngle(double ax, double ay, double az, double angle);
00100 
00102                 void setIdentity();
00103 
00105                 double x;
00106 
00108                 double y;
00109 
00111                 double z;
00112 
00114                 double w;
00115             };
00116 
00117             SO3StateSpace() : StateSpace()
00118             {
00119                 setName("SO3" + getName());
00120                 type_ = STATE_SPACE_SO3;
00121             }
00122 
00123             virtual ~SO3StateSpace()
00124             {
00125             }
00126 
00128             double norm(const StateType *state) const;
00129 
00130             virtual unsigned int getDimension() const;
00131 
00132             virtual double getMaximumExtent() const;
00133 
00134             virtual double getMeasure() const;
00135 
00136             virtual void enforceBounds(State *state) const;
00137 
00138             virtual bool satisfiesBounds(const State *state) const;
00139 
00140             virtual void copyState(State *destination, const State *source) const;
00141 
00142             virtual unsigned int getSerializationLength() const;
00143 
00144             virtual void serialize(void *serialization, const State *state) const;
00145 
00146             virtual void deserialize(State *state, const void *serialization) const;
00147 
00148             virtual double distance(const State *state1, const State *state2) const;
00149 
00150             virtual bool equalStates(const State *state1, const State *state2) const;
00151 
00152             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00153 
00154             virtual StateSamplerPtr allocDefaultStateSampler() const;
00155 
00156             virtual State* allocState() const;
00157 
00158             virtual void freeState(State *state) const;
00159 
00160             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
00161 
00162             virtual void printState(const State *state, std::ostream &out) const;
00163 
00164             virtual void printSettings(std::ostream &out) const;
00165 
00166             virtual void registerProjections();
00167         };
00168     }
00169 }
00170 
00171 #endif
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