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SE2StateSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SE2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SE2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 #include "ompl/base/spaces/SO2StateSpace.h"
43 
44 namespace ompl
45 {
46  namespace base
47  {
48 
51  {
52  public:
53 
56  {
57  public:
59  {
60  }
61 
63  double getX(void) const
64  {
65  return as<RealVectorStateSpace::StateType>(0)->values[0];
66  }
67 
69  double getY(void) const
70  {
71  return as<RealVectorStateSpace::StateType>(0)->values[1];
72  }
73 
77  double getYaw(void) const
78  {
79  return as<SO2StateSpace::StateType>(1)->value;
80  }
81 
83  void setX(double x)
84  {
85  as<RealVectorStateSpace::StateType>(0)->values[0] = x;
86  }
87 
89  void setY(double y)
90  {
91  as<RealVectorStateSpace::StateType>(0)->values[1] = y;
92  }
93 
95  void setXY(double x, double y)
96  {
97  setX(x);
98  setY(y);
99  }
100 
104  void setYaw(double yaw)
105  {
106  as<SO2StateSpace::StateType>(1)->value = yaw;
107  }
108 
109  };
110 
111 
113  {
114  setName("SE2" + getName());
118  lock();
119  }
120 
121  virtual ~SE2StateSpace(void)
122  {
123  }
124 
126  void setBounds(const RealVectorBounds &bounds)
127  {
128  as<RealVectorStateSpace>(0)->setBounds(bounds);
129  }
130 
132  const RealVectorBounds& getBounds(void) const
133  {
134  return as<RealVectorStateSpace>(0)->getBounds();
135  }
136 
137  virtual State* allocState(void) const;
138  virtual void freeState(State *state) const;
139 
140  virtual void registerProjections(void);
141 
142  };
143  }
144 }
145 
146 #endif