00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Rice University 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Rice University nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_BASE_SPACES_SE3_STATE_SPACE_ 00038 #define OMPL_BASE_SPACES_SE3_STATE_SPACE_ 00039 00040 #include "ompl/base/StateSpace.h" 00041 #include "ompl/base/spaces/RealVectorStateSpace.h" 00042 #include "ompl/base/spaces/SO3StateSpace.h" 00043 00044 namespace ompl 00045 { 00046 namespace base 00047 { 00048 00050 class SE3StateSpace : public CompoundStateSpace 00051 { 00052 public: 00053 00055 class StateType : public CompoundStateSpace::StateType 00056 { 00057 public: 00058 StateType(void) : CompoundStateSpace::StateType() 00059 { 00060 } 00061 00063 double getX(void) const 00064 { 00065 return as<RealVectorStateSpace::StateType>(0)->values[0]; 00066 } 00067 00069 double getY(void) const 00070 { 00071 return as<RealVectorStateSpace::StateType>(0)->values[1]; 00072 } 00073 00075 double getZ(void) const 00076 { 00077 return as<RealVectorStateSpace::StateType>(0)->values[2]; 00078 } 00079 00081 const SO3StateSpace::StateType& rotation(void) const 00082 { 00083 return *as<SO3StateSpace::StateType>(1); 00084 } 00085 00087 SO3StateSpace::StateType& rotation(void) 00088 { 00089 return *as<SO3StateSpace::StateType>(1); 00090 } 00091 00093 void setX(double x) 00094 { 00095 as<RealVectorStateSpace::StateType>(0)->values[0] = x; 00096 } 00097 00099 void setY(double y) 00100 { 00101 as<RealVectorStateSpace::StateType>(0)->values[1] = y; 00102 } 00103 00105 void setZ(double z) 00106 { 00107 as<RealVectorStateSpace::StateType>(0)->values[2] = z; 00108 } 00109 00111 void setXYZ(double x, double y, double z) 00112 { 00113 setX(x); 00114 setY(y); 00115 setZ(z); 00116 } 00117 00118 }; 00119 00120 SE3StateSpace(void) : CompoundStateSpace() 00121 { 00122 setName("SE3" + getName()); 00123 type_ = STATE_SPACE_SE3; 00124 addSubSpace(StateSpacePtr(new RealVectorStateSpace(3)), 1.0); 00125 addSubSpace(StateSpacePtr(new SO3StateSpace()), 0.5); 00126 lock(); 00127 } 00128 00129 virtual ~SE3StateSpace(void) 00130 { 00131 } 00132 00134 void setBounds(const RealVectorBounds &bounds) 00135 { 00136 as<RealVectorStateSpace>(0)->setBounds(bounds); 00137 } 00138 00140 const RealVectorBounds& getBounds(void) const 00141 { 00142 return as<RealVectorStateSpace>(0)->getBounds(); 00143 } 00144 00145 virtual State* allocState(void) const; 00146 virtual void freeState(State *state) const; 00147 00148 virtual void registerProjections(void); 00149 }; 00150 } 00151 } 00152 00153 #endif