Sophie

Sophie

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ompl-devel-0.9.5-1.fc14.i686.rpm

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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_BASE_SPACES_SE3_STATE_SPACE_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_SPACES_SE3_STATE_SPACE_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/StateSpace.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/base/spaces/RealVectorStateSpace.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/base/spaces/SO3StateSpace.h&quot;</span>
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 <span class="keyword">namespace </span>ompl
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046     <span class="keyword">namespace </span>base
<a name="l00047"></a>00047     {
<a name="l00048"></a>00048 
<a name="l00050"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace.html">00050</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">SE3StateSpace</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">CompoundStateSpace</a>
<a name="l00051"></a>00051         {
<a name="l00052"></a>00052         <span class="keyword">public</span>:
<a name="l00053"></a>00053 
<a name="l00055"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html">00055</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html" title="A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)">StateType</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">CompoundStateSpace</a>::<a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html" title="A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)">StateType</a>
<a name="l00056"></a>00056             {
<a name="l00057"></a>00057             <span class="keyword">public</span>:
<a name="l00058"></a>00058                 <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html" title="A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)">StateType</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">CompoundStateSpace::StateType</a>()
<a name="l00059"></a>00059                 {
<a name="l00060"></a>00060                 }
<a name="l00061"></a>00061 
<a name="l00063"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#abb4f8e3361ec2c6d8fae0ee3af110691">00063</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#abb4f8e3361ec2c6d8fae0ee3af110691" title="Get the X component of the state.">getX</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00064"></a>00064 <span class="keyword">                </span>{
<a name="l00065"></a>00065                     <span class="keywordflow">return</span> as&lt;RealVectorStateSpace::StateType&gt;(0)-&gt;values[0];
<a name="l00066"></a>00066                 }
<a name="l00067"></a>00067 
<a name="l00069"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#ab125708f22ec1815503a71f25730c4c7">00069</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#ab125708f22ec1815503a71f25730c4c7" title="Get the Y component of the state.">getY</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00070"></a>00070 <span class="keyword">                </span>{
<a name="l00071"></a>00071                     <span class="keywordflow">return</span> as&lt;RealVectorStateSpace::StateType&gt;(0)-&gt;values[1];
<a name="l00072"></a>00072                 }
<a name="l00073"></a>00073 
<a name="l00075"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#ad455e9b4048cb1fe65b47c3f4a422f24">00075</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#ad455e9b4048cb1fe65b47c3f4a422f24" title="Get the Z component of the state.">getZ</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00076"></a>00076 <span class="keyword">                </span>{
<a name="l00077"></a>00077                     <span class="keywordflow">return</span> as&lt;RealVectorStateSpace::StateType&gt;(0)-&gt;values[2];
<a name="l00078"></a>00078                 }
<a name="l00079"></a>00079 
<a name="l00081"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a3eef19382a3965917f8a81097bd8e5eb">00081</a>                 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html" title="The definition of a state in SO(3) represented as a unit quaternion.">SO3StateSpace::StateType</a>&amp; <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a3eef19382a3965917f8a81097bd8e5eb" title="Get the rotation component of the state.">rotation</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00082"></a>00082 <span class="keyword">                </span>{
<a name="l00083"></a>00083                     <span class="keywordflow">return</span> *as&lt;SO3StateSpace::StateType&gt;(1);
<a name="l00084"></a>00084                 }
<a name="l00085"></a>00085 
<a name="l00087"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#aa74527306fe83a197654ade4218927ba">00087</a>                 <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html" title="The definition of a state in SO(3) represented as a unit quaternion.">SO3StateSpace::StateType</a>&amp; <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a3eef19382a3965917f8a81097bd8e5eb" title="Get the rotation component of the state.">rotation</a>(<span class="keywordtype">void</span>)
<a name="l00088"></a>00088                 {
<a name="l00089"></a>00089                     <span class="keywordflow">return</span> *as&lt;SO3StateSpace::StateType&gt;(1);
<a name="l00090"></a>00090                 }
<a name="l00091"></a>00091 
<a name="l00093"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a0751796d34a2d0de27c2103093345aea">00093</a>                 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a0751796d34a2d0de27c2103093345aea" title="Set the X component of the state.">setX</a>(<span class="keywordtype">double</span> x)
<a name="l00094"></a>00094                 {
<a name="l00095"></a>00095                     as&lt;RealVectorStateSpace::StateType&gt;(0)-&gt;values[0] = x;
<a name="l00096"></a>00096                 }
<a name="l00097"></a>00097 
<a name="l00099"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a4858f00d5ba6b03f85e59e6de7a2cd08">00099</a>                 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a4858f00d5ba6b03f85e59e6de7a2cd08" title="Set the Y component of the state.">setY</a>(<span class="keywordtype">double</span> y)
<a name="l00100"></a>00100                 {
<a name="l00101"></a>00101                     as&lt;RealVectorStateSpace::StateType&gt;(0)-&gt;values[1] = y;
<a name="l00102"></a>00102                 }
<a name="l00103"></a>00103 
<a name="l00105"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#ab478a95c3f0c06c4e095b7ac859f1410">00105</a>                 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#ab478a95c3f0c06c4e095b7ac859f1410" title="Set the Z component of the state.">setZ</a>(<span class="keywordtype">double</span> z)
<a name="l00106"></a>00106                 {
<a name="l00107"></a>00107                     as&lt;RealVectorStateSpace::StateType&gt;(0)-&gt;values[2] = z;
<a name="l00108"></a>00108                 }
<a name="l00109"></a>00109 
<a name="l00111"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a31582a7c0aa334e70d07f9b57939269e">00111</a>                 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a31582a7c0aa334e70d07f9b57939269e" title="Set the X, Y and Z components of the state.">setXYZ</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z)
<a name="l00112"></a>00112                 {
<a name="l00113"></a>00113                     <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a0751796d34a2d0de27c2103093345aea" title="Set the X component of the state.">setX</a>(x);
<a name="l00114"></a>00114                     <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#a4858f00d5ba6b03f85e59e6de7a2cd08" title="Set the Y component of the state.">setY</a>(y);
<a name="l00115"></a>00115                     <a class="code" href="classompl_1_1base_1_1SE3StateSpace_1_1StateType.html#ab478a95c3f0c06c4e095b7ac859f1410" title="Set the Z component of the state.">setZ</a>(z);
<a name="l00116"></a>00116                 }
<a name="l00117"></a>00117 
<a name="l00118"></a>00118             };
<a name="l00119"></a>00119 
<a name="l00120"></a>00120             <a class="code" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">SE3StateSpace</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html" title="A space to allow the composition of state spaces.">CompoundStateSpace</a>()
<a name="l00121"></a>00121             {
<a name="l00122"></a>00122                 <a class="code" href="classompl_1_1base_1_1StateSpace.html#ad12cc022ef531dcb563f6d3d13b847ad" title="Set the name of the state space.">setName</a>(<span class="stringliteral">&quot;SE3&quot;</span> + <a class="code" href="classompl_1_1base_1_1StateSpace.html#a90015676df178b4406a8ab8399f0624c" title="Get the name of the state space.">getName</a>());
<a name="l00123"></a>00123                 <a class="code" href="classompl_1_1base_1_1StateSpace.html#a68556edd816136a66a0d81544baef08c" title="A type assigned for this state space.">type_</a> = <a class="code" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920acc8d4a06096c378b5473fe4caf8171f8" title="ompl::base::SE3StateSpace">STATE_SPACE_SE3</a>;
<a name="l00124"></a>00124                 <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#aba4aafa2e39b134bf55c5a2ba17d29af" title="Adds a new state space as part of the compound state space. For computing distances within the compou...">addSubSpace</a>(<a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm.">RealVectorStateSpace</a>(3)), 1.0);
<a name="l00125"></a>00125                 <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#aba4aafa2e39b134bf55c5a2ba17d29af" title="Adds a new state space as part of the compound state space. For computing distances within the compou...">addSubSpace</a>(<a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html" title="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.">SO3StateSpace</a>()), 0.5);
<a name="l00126"></a>00126                 <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#a7aca5d3cfc2ae6bc5b2543a88ef5cb9c" title="Lock this state space. This means no further spaces can be added as components. This function can be ...">lock</a>();
<a name="l00127"></a>00127             }
<a name="l00128"></a>00128 
<a name="l00129"></a>00129             <span class="keyword">virtual</span> ~SE3StateSpace(<span class="keywordtype">void</span>)
<a name="l00130"></a>00130             {
<a name="l00131"></a>00131             }
<a name="l00132"></a>00132 
<a name="l00134"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#acf17c0f33c6f3bb57d27625b406d5167">00134</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#acf17c0f33c6f3bb57d27625b406d5167">setBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">RealVectorBounds</a> &amp;bounds)
<a name="l00135"></a>00135             {
<a name="l00136"></a>00136                 as&lt;RealVectorStateSpace&gt;(0)-&gt;<a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#acf17c0f33c6f3bb57d27625b406d5167">setBounds</a>(bounds);
<a name="l00137"></a>00137             }
<a name="l00138"></a>00138 
<a name="l00140"></a><a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#ab32d3941c4cb3187fda8e1b63f1b195a">00140</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">RealVectorBounds</a>&amp; <a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#ab32d3941c4cb3187fda8e1b63f1b195a">getBounds</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00141"></a>00141 <span class="keyword">            </span>{
<a name="l00142"></a>00142                 <span class="keywordflow">return</span> as&lt;RealVectorStateSpace&gt;(0)-&gt;<a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#ab32d3941c4cb3187fda8e1b63f1b195a">getBounds</a>();
<a name="l00143"></a>00143             }
<a name="l00144"></a>00144 
<a name="l00145"></a>00145             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* <a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#a1e55167d95d2e9b382f3d77ede68c881" title="Allocate a state that can store a point in the described space.">allocState</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00146"></a>00146             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#a1fe8b0d921a52a5858f82507b66d70bc" title="Free the memory of the allocated state.">freeState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state) <span class="keyword">const</span>;
<a name="l00147"></a>00147 
<a name="l00148"></a>00148             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SE3StateSpace.html#a8d3246ca635d03c1916d0476679475c5" title="Register the projections for this state space. Usually, this is at least the default projection...">registerProjections</a>(<span class="keywordtype">void</span>);
<a name="l00149"></a>00149         };
<a name="l00150"></a>00150     }
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 
<a name="l00153"></a>00153 <span class="preprocessor">#endif</span>
</pre></div></div>
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