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XRN_X_SO3.cpp
47Projection_SO3RN_SO3::Projection_SO3RN_SO3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
53void Projection_SO3RN_SO3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
55 const auto *xBundle_SO3 = xBundle->as<base::CompoundState>()->as<base::SO3StateSpace::StateType>(0);
68 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
The definition of a state in SO(3) represented as a unit quaternion.
Definition SO3StateSpace.h:91
A shared pointer wrapper for ompl::base::StateSpace.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68