37 #ifndef OMPL_BASE_SPACES_SE3_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE3_STATE_SPACE_
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO3StateSpace.h"
65 return as<RealVectorStateSpace::StateType>(0)->values[0];
71 return as<RealVectorStateSpace::StateType>(0)->values[1];
77 return as<RealVectorStateSpace::StateType>(0)->values[2];
83 return *as<SO3StateSpace::StateType>(1);
89 return *as<SO3StateSpace::StateType>(1);
95 as<RealVectorStateSpace::StateType>(0)->values[0] = x;
101 as<RealVectorStateSpace::StateType>(0)->values[1] = y;
107 as<RealVectorStateSpace::StateType>(0)->values[2] = z;
111 void setXYZ(
double x,
double y,
double z)
129 virtual ~SE3StateSpace(
void)
136 as<RealVectorStateSpace>(0)->
setBounds(bounds);
142 return as<RealVectorStateSpace>(0)->
getBounds();