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src
ompl
base
spaces
SO3StateSpace.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Rice University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Rice University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#ifndef OMPL_BASE_SPACES_SO3_STATE_SPACE_
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#define OMPL_BASE_SPACES_SO3_STATE_SPACE_
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#include "ompl/base/StateSpace.h"
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namespace
ompl
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{
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namespace
base
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{
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class
SO3StateSampler
:
public
StateSampler
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{
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public
:
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SO3StateSampler
(
const
StateSpace
*space) :
StateSampler
(space)
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{
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}
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virtual
void
sampleUniform
(
State
*state);
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virtual
void
sampleUniformNear
(
State
*state,
const
State
*near,
const
double
distance);
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virtual
void
sampleGaussian
(
State
*state,
const
State
*mean,
const
double
stdDev);
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};
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class
SO3StateSpace
:
public
StateSpace
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{
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public
:
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class
StateType
:
public
State
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{
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public
:
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void
setAxisAngle
(
double
ax,
double
ay,
double
az,
double
angle);
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void
setIdentity
(
void
);
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double
x
;
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double
y
;
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double
z
;
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double
w
;
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};
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SO3StateSpace
(
void
) :
StateSpace
()
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{
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setName
(
"SO3"
+
getName
());
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type_
=
STATE_SPACE_SO3
;
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}
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virtual
~
SO3StateSpace
(
void
)
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{
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}
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double
norm
(
const
StateType
*state)
const
;
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virtual
unsigned
int
getDimension
(
void
)
const
;
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virtual
double
getMaximumExtent
(
void
)
const
;
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virtual
void
enforceBounds
(State *state)
const
;
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virtual
bool
satisfiesBounds
(
const
State *state)
const
;
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virtual
void
copyState
(State *destination,
const
State *source)
const
;
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virtual
unsigned
int
getSerializationLength
(
void
)
const
;
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virtual
void
serialize
(
void
*serialization,
const
State *state)
const
;
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virtual
void
deserialize
(State *state,
const
void
*serialization)
const
;
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virtual
double
distance
(
const
State *state1,
const
State *state2)
const
;
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virtual
bool
equalStates
(
const
State *state1,
const
State *state2)
const
;
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virtual
void
interpolate
(
const
State *from,
const
State *to,
const
double
t, State *state)
const
;
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virtual
StateSamplerPtr
allocDefaultStateSampler
(
void
)
const
;
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virtual
State*
allocState
(
void
)
const
;
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virtual
void
freeState
(State *state)
const
;
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virtual
double
*
getValueAddressAtIndex
(State *state,
const
unsigned
int
index)
const
;
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virtual
void
printState
(
const
State *state, std::ostream &out)
const
;
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virtual
void
printSettings
(std::ostream &out)
const
;
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virtual
void
registerProjections
(
void
);
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};
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}
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}
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#endif