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XRN_X_SE3.cpp
46Projection_SE3RN_SE3::Projection_SE3RN_SE3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
52void Projection_SE3RN_SE3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
54 const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
72 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
Definition SE3StateSpace.h:54
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
Definition SE3StateSpace.h:77
A shared pointer wrapper for ompl::base::StateSpace.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68