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SE3StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SE3_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE3_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO3StateSpace.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
48 
51  {
52  public:
53 
56  {
57  public:
59  {
60  }
61 
63  double getX(void) const
64  {
65  return as<RealVectorStateSpace::StateType>(0)->values[0];
66  }
67 
69  double getY(void) const
70  {
71  return as<RealVectorStateSpace::StateType>(0)->values[1];
72  }
73 
75  double getZ(void) const
76  {
77  return as<RealVectorStateSpace::StateType>(0)->values[2];
78  }
79 
82  {
83  return *as<SO3StateSpace::StateType>(1);
84  }
85 
88  {
89  return *as<SO3StateSpace::StateType>(1);
90  }
91 
93  void setX(double x)
94  {
95  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
96  }
97 
99  void setY(double y)
100  {
101  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
102  }
103 
105  void setZ(double z)
106  {
107  as<RealVectorStateSpace::StateType>(0)->values[2] = z;
108  }
109 
111  void setXYZ(double x, double y, double z)
112  {
113  setX(x);
114  setY(y);
115  setZ(z);
116  }
117 
118  };
119 
121  {
122  setName("SE3" + getName());
126  lock();
127  }
128 
129  virtual ~SE3StateSpace(void)
130  {
131  }
132 
134  void setBounds(const RealVectorBounds &bounds)
135  {
136  as<RealVectorStateSpace>(0)->setBounds(bounds);
137  }
138 
140  const RealVectorBounds& getBounds(void) const
141  {
142  return as<RealVectorStateSpace>(0)->getBounds();
143  }
144 
145  virtual State* allocState(void) const;
146  virtual void freeState(State *state) const;
147 
148  virtual void registerProjections(void);
149  };
150  }
151 }
152 
153 #endif