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ompl::base::SO3StateSampler Class Reference

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

#include <SO3StateSpace.h>

Inheritance diagram for ompl::base::SO3StateSampler:

List of all members.

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 uniformly within some given distance, we first compute a rotation q about a uniformly random unit vector by an angle uniformly distributed between 0 and 2*distance, with a correction to account for the larger volume of states at increasing distance. (Quaternion distance is equal to half the angle in axis-angle representation.) The resulting state is then the quaternion product of near and q.
virtual void sampleGaussian (State *state, const State *mean, const double stdDev)
 To sample sample a unit quaternion from a Gaussian, distribution we first compute a rotation q about a uniformly random unit vector by an angle sampled from a Gaussian with mean equal to 0 and standard deviation equal to 2*stdDev, and with a correction to account for the larger volume of states at increasing distance. (Quaternion distance is equal to half the angle in axis-angle representation.) The resulting state is then the quaternion product of near and q.

Detailed Description

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


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