SO3StateSpace.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACES_SO3_STATE_SPACE_
#define OMPL_BASE_SPACES_SO3_STATE_SPACE_

#include "ompl/base/StateSpace.h"

namespace ompl
{
    namespace base
    {

        class SO3StateSampler : public StateSampler
        {
        public:

            SO3StateSampler(const StateSpace *space) : StateSampler(space)
            {
            }

            virtual void sampleUniform(State *state);
            virtual void sampleUniformNear(State *state, const State *near, const double distance);
            virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
        };

        class SO3StateSpace : public StateSpace
        {
        public:


            class StateType : public State
            {
            public:

                void setAxisAngle(double ax, double ay, double az, double angle);

                void setIdentity();

                double x;

                double y;

                double z;

                double w;
            };

            SO3StateSpace() : StateSpace()
            {
                setName("SO3" + getName());
                type_ = STATE_SPACE_SO3;
            }

            virtual ~SO3StateSpace()
            {
            }

            double norm(const StateType *state) const;

            virtual unsigned int getDimension() const;

            virtual double getMaximumExtent() const;

            virtual double getMeasure() const;

            virtual void enforceBounds(State *state) const;

            virtual bool satisfiesBounds(const State *state) const;

            virtual void copyState(State *destination, const State *source) const;

            virtual unsigned int getSerializationLength() const;

            virtual void serialize(void *serialization, const State *state) const;

            virtual void deserialize(State *state, const void *serialization) const;

            virtual double distance(const State *state1, const State *state2) const;

            virtual bool equalStates(const State *state1, const State *state2) const;

            virtual void interpolate(const State *from, const State *to, const double t, State *state) const;

            virtual StateSamplerPtr allocDefaultStateSampler() const;

            virtual State* allocState() const;

            virtual void freeState(State *state) const;

            virtual double* getValueAddressAtIndex(State *state, const unsigned int index) const;

            virtual void printState(const State *state, std::ostream &out) const;

            virtual void printSettings(std::ostream &out) const;

            virtual void registerProjections();
        };
    }
}

#endif