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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_SO2_STATE_SPACE_
38 #define OMPL_BASE_SPACES_SO2_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44     namespace base
45     {
46         /** \brief State space sampler for SO(2) */
47         class SO2StateSampler : public StateSampler
48         {
49         public:
50             /** \brief Constructor */
SO2StateSampler(const StateSpace * space)51             SO2StateSampler(const StateSpace *space) : StateSampler(space)
52             {
53             }
54 
55             void sampleUniform(State *state) override;
56             void sampleUniformNear(State *state, const State *near, double distance) override;
57             void sampleGaussian(State *state, const State *mean, double stdDev) override;
58         };
59 
60         /** \brief A state space representing SO(2). The distance
61             function and interpolation take into account angle
62             wrapping. */
63         class SO2StateSpace : public StateSpace
64         {
65         public:
66             /** \brief The definition of a state in SO(2) */
67             class StateType : public State
68             {
69             public:
70                 /** \brief Set the state to identity -- no rotation (value = 0.0) */
setIdentity()71                 void setIdentity()
72                 {
73                     value = 0.0;
74                 }
75 
76                 /** \brief The value of the angle in the interval (-Pi, Pi] */
77                 double value;
78             };
79 
SO2StateSpace()80             SO2StateSpace()
81             {
82                 setName("SO2" + getName());
83                 type_ = STATE_SPACE_SO2;
84             }
85 
86             ~SO2StateSpace() override = default;
87 
88             unsigned int getDimension() const override;
89 
90             double getMaximumExtent() const override;
91 
92             double getMeasure() const override;
93 
94             /** \brief Normalize the value of the state to the interval [-Pi, Pi) */
95             void enforceBounds(State *state) const override;
96 
97             /** \brief Check if the value of the state is in the interval [-Pi, Pi) */
98             bool satisfiesBounds(const State *state) const override;
99 
100             void copyState(State *destination, const State *source) const override;
101 
102             unsigned int getSerializationLength() const override;
103 
104             void serialize(void *serialization, const State *state) const override;
105 
106             void deserialize(State *state, const void *serialization) const override;
107 
108             double distance(const State *state1, const State *state2) const override;
109 
110             bool equalStates(const State *state1, const State *state2) const override;
111 
112             void interpolate(const State *from, const State *to, double t, State *state) const override;
113 
114             StateSamplerPtr allocDefaultStateSampler() const override;
115 
116             State *allocState() const override;
117 
118             void freeState(State *state) const override;
119 
120             double *getValueAddressAtIndex(State *state, unsigned int index) const override;
121 
122             void printState(const State *state, std::ostream &out) const override;
123 
124             void printSettings(std::ostream &out) const override;
125 
126             void registerProjections() override;
127         };
128     }
129 }
130 
131 #endif
132