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SE2StateManifold.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_MANIFOLDS_SE2_STATE_MANIFOLD_
00038 #define OMPL_BASE_MANIFOLDS_SE2_STATE_MANIFOLD_
00039 
00040 #include "ompl/base/StateManifold.h"
00041 #include "ompl/base/manifolds/RealVectorStateManifold.h"
00042 #include "ompl/base/manifolds/SO2StateManifold.h"
00043 
00044 namespace ompl
00045 {
00046     namespace base
00047     {
00048 
00050         class SE2StateManifold : 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 
00077                 double getYaw(void) const
00078                 {
00079                     return as<SO2StateManifold::StateType>(1)->value;
00080                 }
00081 
00083                 void setX(double x)
00084                 {
00085                     as<RealVectorStateManifold::StateType>(0)->values[0] = x;
00086                 }
00087 
00089                 void setY(double y)
00090                 {
00091                     as<RealVectorStateManifold::StateType>(0)->values[1] = y;
00092                 }
00093 
00095                 void setXY(double x, double y)
00096                 {
00097                     setX(x);
00098                     setY(y);
00099                 }
00100 
00104                 void setYaw(double yaw)
00105                 {
00106                     as<SO2StateManifold::StateType>(1)->value = yaw;
00107                 }
00108 
00109             };
00110 
00111 
00112             SE2StateManifold(void) : CompoundStateManifold()
00113             {
00114                 setName("SE2" + getName());
00115                 type_ = STATE_MANIFOLD_SE2;
00116                 addSubManifold(StateManifoldPtr(new RealVectorStateManifold(2)), 1.0);
00117                 addSubManifold(StateManifoldPtr(new SO2StateManifold()), 0.5);
00118                 lock();
00119             }
00120 
00121             virtual ~SE2StateManifold(void)
00122             {
00123             }
00124 
00126             void setBounds(const RealVectorBounds &bounds)
00127             {
00128                 as<RealVectorStateManifold>(0)->setBounds(bounds);
00129             }
00130 
00132             const RealVectorBounds& getBounds(void) const
00133             {
00134                 return as<RealVectorStateManifold>(0)->getBounds();
00135             }
00136 
00137             virtual State* allocState(void) const;
00138             virtual void freeState(State *state) const;
00139 
00140             virtual void registerProjections(void);
00141 
00142         };
00143     }
00144 }
00145 
00146 #endif
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