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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);
00058             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00059             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00060         };
00061 
00066         class SO3StateSpace : public StateSpace
00067         {
00068         public:
00069 
00070 
00076             class StateType : public State
00077             {
00078             public:
00079 
00081                 void setAxisAngle(double ax, double ay, double az, double angle);
00082 
00084                 void setIdentity(void);
00085 
00087                 double x;
00088 
00090                 double y;
00091 
00093                 double z;
00094 
00096                 double w;
00097             };
00098 
00099             SO3StateSpace(void) : StateSpace()
00100             {
00101                 setName("SO3" + getName());
00102                 type_ = STATE_SPACE_SO3;
00103             }
00104 
00105             virtual ~SO3StateSpace(void)
00106             {
00107             }
00108 
00110             double norm(const StateType *state) const;
00111 
00112             virtual unsigned int getDimension(void) const;
00113 
00114             virtual double getMaximumExtent(void) const;
00115 
00116             virtual void enforceBounds(State *state) const;
00117 
00118             virtual bool satisfiesBounds(const State *state) const;
00119 
00120             virtual void copyState(State *destination, const State *source) const;
00121 
00122             virtual double distance(const State *state1, const State *state2) const;
00123 
00124             virtual bool equalStates(const State *state1, const State *state2) const;
00125 
00126             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00127 
00128             virtual StateSamplerPtr allocStateSampler(void) const;
00129 
00130             virtual State* allocState(void) const;
00131 
00132             virtual void freeState(State *state) const;
00133 
00134             virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;
00135 
00136             virtual void printState(const State *state, std::ostream &out) const;
00137 
00138             virtual void printSettings(std::ostream &out) const;
00139 
00140             virtual void registerProjections(void);
00141         };
00142     }
00143 }
00144 
00145 #endif