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. More...
#include <ompl/base/spaces/SO3StateSpace.h>

Public Member Functions | |
double | norm (const StateType *state) const |
Compute the norm of a state. | |
virtual unsigned int | getDimension () const |
Get the dimension of the space (not the dimension of the surrounding ambient space) | |
virtual double | getMaximumExtent () const |
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity. | |
virtual double | getMeasure () const |
Get a measure of the space (this can be thought of as a generalization of volume) | |
virtual void | enforceBounds (State *state) const |
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op. | |
virtual bool | satisfiesBounds (const State *state) const |
Check if a state is inside the bounding box. For unbounded spaces this function can always return true. | |
virtual void | copyState (State *destination, const State *source) const |
Copy a state to another. The memory of source and destination should NOT overlap. | |
virtual unsigned int | getSerializationLength () const |
Get the number of chars in the serialization of a state in this space. | |
virtual void | serialize (void *serialization, const State *state) const |
Write the binary representation of state to serialization. | |
virtual void | deserialize (State *state, const void *serialization) const |
Read the binary representation of a state from serialization and write it to state. | |
virtual double | distance (const State *state1, const State *state2) const |
Computes distance between two states. This function satisfies the properties of a metric if isMetricSpace() is true, and its return value will always be between 0 and getMaximumExtent() | |
virtual bool | equalStates (const State *state1, const State *state2) const |
Checks whether two states are equal. | |
virtual void | interpolate (const State *from, const State *to, const double t, State *state) const |
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to. | |
virtual StateSamplerPtr | allocDefaultStateSampler () const |
Allocate an instance of the default uniform state sampler for this space. | |
virtual State * | allocState () const |
Allocate a state that can store a point in the described space. | |
virtual void | freeState (State *state) const |
Free the memory of the allocated state. | |
virtual double * | getValueAddressAtIndex (State *state, const unsigned int index) const |
Many states contain a number of double values. This function provides a means to get the memory address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is NULL. | |
virtual void | printState (const State *state, std::ostream &out) const |
Print a state to a stream. | |
virtual void | printSettings (std::ostream &out) const |
Print the settings for this state space to a stream. | |
virtual void | registerProjections () |
Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by setup(). |
Detailed Description
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 at line 84 of file SO3StateSpace.h.
Member Function Documentation
void base::SO3StateSpace::copyState | ( | State * | destination, |
const State * | source | ||
) | const [virtual] |
Copy a state to another. The memory of source and destination should NOT overlap.
- Note:
- For more advanced state copying methods (partial copy, for example), see Advanced methods for copying states.
Implements base::StateSpace.
Definition at line 229 of file SO3StateSpace.cpp.
double base::SO3StateSpace::getMaximumExtent | ( | ) | const [virtual] |
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity.
- Note:
- Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful.
Implements base::StateSpace.
Definition at line 177 of file SO3StateSpace.cpp.
double * base::SO3StateSpace::getValueAddressAtIndex | ( | State * | state, |
const unsigned int | index | ||
) | const [virtual] |
Many states contain a number of double values. This function provides a means to get the memory address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is NULL.
- Note:
- This function does not map a state to an array of doubles. There may be components of a state that do not correspond to double values and they are 'invisible' to this function. Furthermore, this function is slow and is not intended for use in the implementation of planners. Ideally, state values should not be accessed by index. If accessing of individual state elements is however needed, getValueAddressAtLocation() provides a faster implementation.
Reimplemented from base::StateSpace.
Definition at line 381 of file SO3StateSpace.cpp.
The documentation for this class was generated from the following files:
- ompl/base/spaces/SO3StateSpace.h
- ompl/base/spaces/src/SO3StateSpace.cpp