The definition of a state in SO(3) represented as a unit quaternion. More...
#include <ompl/base/spaces/SO3StateSpace.h>

Public Member Functions | |
void | setAxisAngle (double ax, double ay, double az, double angle) |
Set the quaternion from axis-angle representation. The angle is given in radians. | |
void | setIdentity () |
Set the state to identity – no rotation. | |
![]() | |
template<class T> | |
const T * | as () const |
Cast this instance to a desired type. | |
template<class T> | |
T * | as () |
Cast this instance to a desired type. | |
Public Attributes | |
double | x |
X component of quaternion vector. | |
double | y |
Y component of quaternion vector. | |
double | z |
Z component of quaternion vector. | |
double | w |
scalar component of quaternion | |
Detailed Description
The definition of a state in SO(3) represented as a unit quaternion.
- Note
- The order of the elements matters in this definition for the SO3StateUniformSampler::sample() function.
Definition at line 90 of file SO3StateSpace.h.
Member Function Documentation
◆ setAxisAngle()
void ompl::base::SO3StateSpace::StateType::setAxisAngle | ( | double | ax, |
double | ay, | ||
double | az, | ||
double | angle ) |
Set the quaternion from axis-angle representation. The angle is given in radians.
Definition at line 88 of file SO3StateSpace.cpp.
◆ setIdentity()
void ompl::base::SO3StateSpace::StateType::setIdentity | ( | ) |
Set the state to identity – no rotation.
Definition at line 93 of file SO3StateSpace.cpp.
Member Data Documentation
◆ w
double ompl::base::SO3StateSpace::StateType::w |
scalar component of quaternion
Definition at line 109 of file SO3StateSpace.h.
◆ x
double ompl::base::SO3StateSpace::StateType::x |
X component of quaternion vector.
Definition at line 100 of file SO3StateSpace.h.
◆ y
double ompl::base::SO3StateSpace::StateType::y |
Y component of quaternion vector.
Definition at line 103 of file SO3StateSpace.h.
◆ z
double ompl::base::SO3StateSpace::StateType::z |
Z component of quaternion vector.
Definition at line 106 of file SO3StateSpace.h.
The documentation for this class was generated from the following files:
- ompl/base/spaces/SO3StateSpace.h
- ompl/base/spaces/src/SO3StateSpace.cpp