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ompl::base::SO3StateSpace Class Reference

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 <SO3StateSpace.h>

Inheritance diagram for ompl::base::SO3StateSpace:

List of all members.

Classes

class  StateType
 The definition of a state in SO(3) represented as a unit quaternion. More...

Public Member Functions

double norm (const StateType *state) const
 Compute the norm of a state.
virtual unsigned int getDimension (void) const
 Get the dimension of the space (not the dimension of the surrounding ambient space)
virtual double getMaximumExtent (void) 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 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 double distance (const State *state1, const State *state2) const
 Computes distance to between two states. This function satisfies the properties of a metric 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 allocStateSampler (void) const
 Allocate an instance of a uniform state sampler for this space.
virtual StateallocState (void) 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 (void)
 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 66 of file SO3StateSpace.h.


Member Function Documentation

double ompl::base::SO3StateSpace::getMaximumExtent ( void  ) 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 ompl::base::StateSpace.

Definition at line 90 of file SO3StateSpace.cpp.

double * ompl::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.

Reimplemented from ompl::base::StateSpace.

Definition at line 238 of file SO3StateSpace.cpp.


The documentation for this class was generated from the following files: