Class SO3StateSpace

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class SO3StateSpace : public ompl::base::StateSpace

A state space representing SO(3). The internal representation is done with quaternions. The distance between states is the angle between quaternions and interpolation is done with slerp.

Public Functions

inline SO3StateSpace()
~SO3StateSpace() override = default
double norm(const StateType *state) const

Compute the norm of a state.

virtual unsigned int getDimension() const override

Get the dimension of the space (not the dimension of the surrounding ambient space)

virtual double getMaximumExtent() const override

Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity.

Note

Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful.

virtual double getMeasure() const override

Get a measure of the space (this can be thought of as a generalization of volume)

virtual void enforceBounds(State *state) const override

Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op.

virtual bool satisfiesBounds(const State *state) const override

Check if a state is inside the bounding box. For unbounded spaces this function can always return true.

virtual void copyState(State *destination, const State *source) const override

Copy a state to another. The memory of source and destination should NOT overlap.

Note

For more advanced state copying methods (partial copy, for example), see Advanced methods for copying states.

virtual unsigned int getSerializationLength() const override

Get the number of chars in the serialization of a state in this space.

virtual void serialize(void *serialization, const State *state) const override

Write the binary representation of state to serialization.

virtual void deserialize(State *state, const void *serialization) const override

Read the binary representation of a state from serialization and write it to state.

virtual double distance(const State *state1, const State *state2) const override

Computes distance between two states. This function satisfies the properties of a metric if isMetricSpace() is true, and its return value will always be between 0 and getMaximumExtent()

virtual bool equalStates(const State *state1, const State *state2) const override

Checks whether two states are equal.

virtual void interpolate(const State *from, const State *to, double t, State *state) const override

Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state. The memory location of state is not required to be different from the memory of either from or to.

virtual StateSamplerPtr allocDefaultStateSampler() const override

Allocate an instance of the default uniform state sampler for this 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 double *getValueAddressAtIndex(State *state, unsigned int index) const override

Many states contain a number of double values. This function provides a means to get the memory address of a double value from state state located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the state), the return value is nullptr.

Note

This function does not map a state to an array of doubles. There may be components of a state that do not correspond to double values and they are ‘invisible’ to this function. Furthermore, this function is slow and is not intended for use in the implementation of planners. Ideally, state values should not be accessed by index. If accessing of individual state elements is however needed, getValueAddressAtLocation() provides a faster implementation.

virtual void printState(const State *state, std::ostream &out) const override

Print a state to a stream.

virtual void printSettings(std::ostream &out) const override

Print the settings for this state space to a stream.

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::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