Sophie

Sophie

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

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<div class="title">SO3StateSpace.h</div>  </div>
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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_SO3_STATE_SPACE_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_SPACES_SO3_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 
<a name="l00042"></a>00042 <span class="keyword">namespace </span>ompl
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044     <span class="keyword">namespace </span>base
<a name="l00045"></a>00045     {
<a name="l00046"></a>00046 
<a name="l00048"></a><a class="code" href="classompl_1_1base_1_1SO3StateSampler.html">00048</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1SO3StateSampler.html" title="State space sampler for SO(3), using quaternion representation.">SO3StateSampler</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1StateSampler.html" title="Abstract definition of a state space sampler.">StateSampler</a>
<a name="l00049"></a>00049         {
<a name="l00050"></a>00050         <span class="keyword">public</span>:
<a name="l00051"></a>00051 
<a name="l00053"></a><a class="code" href="classompl_1_1base_1_1SO3StateSampler.html#a64e5298f5b710e1fb03428339c2a0ee2">00053</a>             <a class="code" href="classompl_1_1base_1_1SO3StateSampler.html#a64e5298f5b710e1fb03428339c2a0ee2" title="Constructor.">SO3StateSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space) : <a class="code" href="classompl_1_1base_1_1StateSampler.html" title="Abstract definition of a state space sampler.">StateSampler</a>(space)
<a name="l00054"></a>00054             {
<a name="l00055"></a>00055             }
<a name="l00056"></a>00056 
<a name="l00057"></a>00057             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSampler.html#a11673448fc45166c7535b87a5d2c4d40" title="Sample a state.">sampleUniform</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state);
<a name="l00058"></a>00058             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSampler.html#ade4097ad565c31a70c83331f2243fb13" title="Sample a state near another, within specified distance.">sampleUniformNear</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 class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> distance);
<a name="l00059"></a>00059             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSampler.html#ad73f1f60597f294443fdd2f4af7dc9fe" title="Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...">sampleGaussian</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 class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *mean, <span class="keyword">const</span> <span class="keywordtype">double</span> stdDev);
<a name="l00060"></a>00060         };
<a name="l00061"></a>00061 
<a name="l00066"></a><a class="code" href="classompl_1_1base_1_1SO3StateSpace.html">00066</a>         <span class="keyword">class </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> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a>
<a name="l00067"></a>00067         {
<a name="l00068"></a>00068         <span class="keyword">public</span>:
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 
<a name="l00076"></a><a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html">00076</a>             <span class="keyword">class </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.">StateType</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>
<a name="l00077"></a>00077             {
<a name="l00078"></a>00078             <span class="keyword">public</span>:
<a name="l00079"></a>00079 
<a name="l00081"></a>00081                 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#af5a4d02906007a810e3bbe2b442d7a2f" title="Set the quaternion from axis-angle representation.">setAxisAngle</a>(<span class="keywordtype">double</span> ax, <span class="keywordtype">double</span> ay, <span class="keywordtype">double</span> az, <span class="keywordtype">double</span> angle);
<a name="l00082"></a>00082 
<a name="l00084"></a>00084                 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#a80c975328b052ed3e3ec5b3d457cbf08" title="Set the state to identity -- no rotation.">setIdentity</a>(<span class="keywordtype">void</span>);
<a name="l00085"></a>00085 
<a name="l00087"></a><a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#a525d64ca3f68c8e6492c6e26199d4717">00087</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#a525d64ca3f68c8e6492c6e26199d4717" title="X component of quaternion vector.">x</a>;
<a name="l00088"></a>00088 
<a name="l00090"></a><a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#ae9e99008a6b4448e6a5e53ba42430bcd">00090</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#ae9e99008a6b4448e6a5e53ba42430bcd" title="Y component of quaternion vector.">y</a>;
<a name="l00091"></a>00091 
<a name="l00093"></a><a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#ae4b1013f96d9ad164e54c758711377d0">00093</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#ae4b1013f96d9ad164e54c758711377d0" title="Z component of quaternion vector.">z</a>;
<a name="l00094"></a>00094 
<a name="l00096"></a><a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#a819bd3faba4f19b9f2f58c310c5d6e3c">00096</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html#a819bd3faba4f19b9f2f58c310c5d6e3c" title="scalar component of quaternion">w</a>;
<a name="l00097"></a>00097             };
<a name="l00098"></a>00098 
<a name="l00099"></a>00099             <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>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a>()
<a name="l00100"></a>00100             {
<a name="l00101"></a>00101                 <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;SO3&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="l00102"></a>00102                 <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#a056b022e14fe04a75f81789947353920ae9ec8f7cf5204246a32a44768d843fb1" title="ompl::base::SO3StateSpace">STATE_SPACE_SO3</a>;
<a name="l00103"></a>00103             }
<a name="l00104"></a>00104 
<a name="l00105"></a>00105             <span class="keyword">virtual</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>(<span class="keywordtype">void</span>)
<a name="l00106"></a>00106             {
<a name="l00107"></a>00107             }
<a name="l00108"></a>00108 
<a name="l00110"></a>00110             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a43d994e1775140840b42a493d8b4d0e8" title="Compute the norm of a state.">norm</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">StateType</a> *state) <span class="keyword">const</span>;
<a name="l00111"></a>00111 
<a name="l00112"></a>00112             <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a8b21b5e3cfcc3d66d892fb525e21911a" title="Get the dimension of the space (not the dimension of the surrounding ambient space)">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00113"></a>00113 
<a name="l00114"></a>00114             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#ab2195bd3a08aeee6e3fad7e425eb9f26" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">getMaximumExtent</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00115"></a>00115 
<a name="l00116"></a>00116             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a5b0be6b2327b3c8d3ef83b9368c0695a" title="Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...">enforceBounds</a>(State *state) <span class="keyword">const</span>;
<a name="l00117"></a>00117 
<a name="l00118"></a>00118             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a601ae978dbde5d0ded039af4b87edda9" title="Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...">satisfiesBounds</a>(<span class="keyword">const</span> State *state) <span class="keyword">const</span>;
<a name="l00119"></a>00119 
<a name="l00120"></a>00120             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a013547ae0375ec0a158cdefe71b670c3" title="Copy a state to another. The memory of source and destination should NOT overlap.">copyState</a>(State *destination, <span class="keyword">const</span> State *source) <span class="keyword">const</span>;
<a name="l00121"></a>00121 
<a name="l00122"></a>00122             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a0c3bdda1e03c41965aea586cec605b7c" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">distance</a>(<span class="keyword">const</span> State *state1, <span class="keyword">const</span> State *state2) <span class="keyword">const</span>;
<a name="l00123"></a>00123 
<a name="l00124"></a>00124             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a25bdfa4f3262f348d228a119d81b9f30" title="Checks whether two states are equal.">equalStates</a>(<span class="keyword">const</span> State *state1, <span class="keyword">const</span> State *state2) <span class="keyword">const</span>;
<a name="l00125"></a>00125 
<a name="l00126"></a>00126             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#ab3926aa72315531e407aed2dc9d41541" title="Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...">interpolate</a>(<span class="keyword">const</span> State *from, <span class="keyword">const</span> State *to, <span class="keyword">const</span> <span class="keywordtype">double</span> t, State *state) <span class="keyword">const</span>;
<a name="l00127"></a>00127 
<a name="l00128"></a>00128             <span class="keyword">virtual</span> StateSamplerPtr <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a54dbc7c689cf8bb3ecddd480205d1281" title="Allocate an instance of a uniform state sampler for this space.">allocStateSampler</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00129"></a>00129 
<a name="l00130"></a>00130             <span class="keyword">virtual</span> State* <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a279d39fb50eddc2e3a9b9f98335a2299" 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="l00131"></a>00131 
<a name="l00132"></a>00132             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a5cd2870506265d0f7475fe336680a220" title="Free the memory of the allocated state.">freeState</a>(State *state) <span class="keyword">const</span>;
<a name="l00133"></a>00133 
<a name="l00134"></a>00134             <span class="keyword">virtual</span> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a01bdc2556f215089743cd8d0114dc0fa" title="Many states contain a number of double values. This function provides a means to get the memory addre...">getValueAddressAtIndex</a>(State *state, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span>;
<a name="l00135"></a>00135 
<a name="l00136"></a>00136             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a3d415c89084ad4270fcbae9d59c296fe" title="Print a state to a stream.">printState</a>(<span class="keyword">const</span> State *state, std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00137"></a>00137 
<a name="l00138"></a>00138             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#aaadc7e4634cfb489d3bc813a23094a08" title="Print the settings for this state space to a stream.">printSettings</a>(std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00139"></a>00139 
<a name="l00140"></a>00140             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1SO3StateSpace.html#a3bf3e86830acabec6f88cfd8a9958800" 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="l00141"></a>00141         };
<a name="l00142"></a>00142     }
<a name="l00143"></a>00143 }
<a name="l00144"></a>00144 
<a name="l00145"></a>00145 <span class="preprocessor">#endif</span>
</pre></div></div>
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