Class SO3StateSpace::StateType

Defined in File SO3StateSpace.h

Nested Relationships

This class is a nested type of Class SO3StateSpace.

Inheritance Relationships

Base Type

public ompl::base::State (Class State)

Class Documentation

class StateType : public ompl::base::State

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

Note

The order of the elements matters in this definition for the SO3StateUniformSampler::sample() function.

Public Functions

void setAxisAngle(double ax, double ay, double az, double angle): Set the quaternion from axis-angle representation. The angle is given in radians.

void setIdentity(): Set the state to identity — no rotation.

Public Members

double x: X component of quaternion vector.

double y: Y component of quaternion vector.

double z: Z component of quaternion vector.

double w: scalar component of quaternion