All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
ompl::base::SO3StateSampler Class Reference

State space sampler for SO(3), using quaternion representation. More...

#include <SO3StateSpace.h>

Inheritance diagram for ompl::base::SO3StateSampler:

Public Member Functions

 SO3StateSampler (const StateSpace *space)
 Constructor.
 
virtual void sampleUniform (State *state)
 Sample a state.
 
virtual void sampleUniformNear (State *state, const State *near, const double distance)
 To sample unit quaternions uniformly within some given distance, we sample a 3-vector from the R^3 tangent space. This vector is drawn uniformly random from a 3D ball centered at the origin with radius distance. The vector is then "wrapped" around S^3 to obtain a unit quaternion uniformly distributed around the identity quaternion within given distance. We pre-multiply this quaternion with the quaternion near to center the distribution around near.
 
virtual void sampleGaussian (State *state, const State *mean, const double stdDev)
 To sample a unit quaternion from a Gaussian distribution, we sample a 3-vector from the R^3 tangent space using a 3D Gaussian with zero mean and covariance matrix equal to diag(stdDev^2, stdDev^2, stdDev^2). This vector is "wrapped" around S^3 to obtain a Gaussian quaternion with zero mean. We pre-multiply this quaternion with the quaternion mean to get the desired mean.
 
- Public Member Functions inherited from ompl::base::StateSampler
 StateSampler (const StateSpace *space)
 Constructor.
 

Additional Inherited Members

- Protected Attributes inherited from ompl::base::StateSampler
const StateSpacespace_
 The state space this sampler samples.
 
RNG rng_
 An instance of a random number generator.
 

Detailed Description

State space sampler for SO(3), using quaternion representation.

Definition at line 48 of file SO3StateSpace.h.


The documentation for this class was generated from the following files: