ompl::base::SO3StateSpace::StateType Class Reference

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

#include <SO3StateSpace.h>

Inheritance diagram for ompl::base::SO3StateSpace::StateType:

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List of all members.

Public Member Functions
void	setAxisAngle (double ax, double ay, double az, double angle)
	Set the quaternion from axis-angle representation.
void	setIdentity (void)
	Set the state to identity -- no rotation.
Public Attributes
double	w
	scalar component of quaternion
double	x
	X component of quaternion vector.
double	y
	Y component of quaternion vector.
double	z
	Z component of quaternion vector.

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Detailed Description

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.

Definition at line 76 of file SO3StateSpace.h.

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Member Function Documentation

void ompl::base::SO3StateSpace::StateType::setAxisAngle	(	double	ax,
		double	ay,
		double	az,
		double	angle
	)

Set the quaternion from axis-angle representation.

void ompl::base::SO3StateSpace::StateType::setIdentity

(

void

)

Set the state to identity -- no rotation.

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Member Data Documentation

double ompl::base::SO3StateSpace::StateType::w

scalar component of quaternion

Definition at line 96 of file SO3StateSpace.h.

double ompl::base::SO3StateSpace::StateType::x

X component of quaternion vector.

Definition at line 87 of file SO3StateSpace.h.

double ompl::base::SO3StateSpace::StateType::y

Y component of quaternion vector.

Definition at line 90 of file SO3StateSpace.h.

double ompl::base::SO3StateSpace::StateType::z

Z component of quaternion vector.

Definition at line 93 of file SO3StateSpace.h.

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The documentation for this class was generated from the following file:

• SO3StateSpace.h