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SE3StateManifold.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_MANIFOLDS_SE3_STATE_MANIFOLD_
00038 #define OMPL_BASE_MANIFOLDS_SE3_STATE_MANIFOLD_
00039 
00040 #include "ompl/base/StateManifold.h"
00041 #include "ompl/base/manifolds/RealVectorStateManifold.h"
00042 #include "ompl/base/manifolds/SO3StateManifold.h"
00043 
00044 namespace ompl
00045 {
00046     namespace base
00047     {
00048 
00050         class SE3StateManifold : public CompoundStateManifold
00051         {
00052         public:
00053 
00055             class StateType : public CompoundStateManifold::StateType
00056             {
00057             public:
00058                 StateType(void) : CompoundStateManifold::StateType()
00059                 {
00060                 }
00061 
00063                 double getX(void) const
00064                 {
00065                     return as<RealVectorStateManifold::StateType>(0)->values[0];
00066                 }
00067 
00069                 double getY(void) const
00070                 {
00071                     return as<RealVectorStateManifold::StateType>(0)->values[1];
00072                 }
00073 
00075                 double getZ(void) const
00076                 {
00077                     return as<RealVectorStateManifold::StateType>(0)->values[2];
00078                 }
00079 
00081                 const SO3StateManifold::StateType& rotation(void) const
00082                 {
00083                     return *as<SO3StateManifold::StateType>(1);
00084                 }
00085 
00087                 SO3StateManifold::StateType& rotation(void)
00088                 {
00089                     return *as<SO3StateManifold::StateType>(1);
00090                 }
00091 
00093                 void setX(double x)
00094                 {
00095                     as<RealVectorStateManifold::StateType>(0)->values[0] = x;
00096                 }
00097 
00099                 void setY(double y)
00100                 {
00101                     as<RealVectorStateManifold::StateType>(0)->values[1] = y;
00102                 }
00103 
00105                 void setZ(double z)
00106                 {
00107                     as<RealVectorStateManifold::StateType>(0)->values[2] = z;
00108                 }
00109 
00111                 void setXYZ(double x, double y, double z)
00112                 {
00113                     setX(x);
00114                     setY(y);
00115                     setZ(z);
00116                 }
00117 
00118             };
00119 
00120             SE3StateManifold(void) : CompoundStateManifold()
00121             {
00122                 setName("SE3" + getName());
00123                 type_ = STATE_MANIFOLD_SE3;
00124                 addSubManifold(StateManifoldPtr(new RealVectorStateManifold(3)), 1.0);
00125                 addSubManifold(StateManifoldPtr(new SO3StateManifold()), 0.5);
00126                 lock();
00127             }
00128 
00129             virtual ~SE3StateManifold(void)
00130             {
00131             }
00132 
00134             void setBounds(const RealVectorBounds &bounds)
00135             {
00136                 as<RealVectorStateManifold>(0)->setBounds(bounds);
00137             }
00138 
00140             const RealVectorBounds& getBounds(void) const
00141             {
00142                 return as<RealVectorStateManifold>(0)->getBounds();
00143             }
00144 
00145             virtual State* allocState(void) const;
00146             virtual void freeState(State *state) const;
00147 
00148             virtual void registerProjections(void);
00149         };
00150     }
00151 }
00152 
00153 #endif
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