C++ (Cpp) computeAxisAngle Examples

Example #1

File: SO3StateSpace.cpp Project: danathughes/ompl-release

void ompl::base::SO3StateSampler::sampleUniformNear(State *state, const State *near, const double distance)
{
    if (distance >= .25 * boost::math::constants::pi<double>())
    {
        sampleUniform(state);
        return;
    }
    double d = rng_.uniform01();
    SO3StateSpace::StateType q,
        *qs = static_cast<SO3StateSpace::StateType*>(state);
    const SO3StateSpace::StateType *qnear = static_cast<const SO3StateSpace::StateType*>(near);
    computeAxisAngle(q, rng_.gaussian01(), rng_.gaussian01(), rng_.gaussian01(), 2.*pow(d,1./3.)*distance);
    quaternionProduct(*qs, *qnear, q);
}

Example #2

File: SO3StateSpace.cpp Project: OspreyX/ompl-informed

void ompl::base::SO3StateSpace::StateType::setAxisAngle(double ax, double ay, double az, double angle)
{
    computeAxisAngle(*this, ax, ay, az, angle);
}