Class SE3StateSpace

Defined in File SE3StateSpace.h

Nested Relationships

Nested Types

Class SE3StateSpace::StateType

Inheritance Relationships

Base Type

public ompl::base::CompoundStateSpace (Class CompoundStateSpace)

Class Documentation

class SE3StateSpace : public ompl::base::CompoundStateSpace 

A state space representing SE(3)

Public Functions

inline SE3StateSpace()

~SE3StateSpace() override = default

inline void setBounds(const RealVectorBounds &bounds): Set the bounds of this state space. This defines the range of the space in which sampling is performed.

inline const RealVectorBounds &getBounds() const: Get the bounds for this state space.

virtual State *allocState() const override: Allocate a state that can store a point in the described space.

virtual void freeState(State *state) const override: Free the memory of the allocated state.

virtual void registerProjections() override: 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().

class StateType : public ompl::base::CompoundState 

A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)

Public Functions

StateType() = default

inline double getX() const: Get the X component of the state.

inline double getY() const: Get the Y component of the state.

inline double getZ() const: Get the Z component of the state.

inline const SO3StateSpace::StateType &rotation() const: Get the rotation component of the state.

inline SO3StateSpace::StateType &rotation(): Get the rotation component of the state and allow changing it as well.

inline void setX(double x): Set the X component of the state.

inline void setY(double y): Set the Y component of the state.

inline void setZ(double z): Set the Z component of the state.

inline void setXYZ(double x, double y, double z): Set the X, Y and Z components of the state.