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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACES_SO3_STATE_SPACE_
#define OMPL_BASE_SPACES_SO3_STATE_SPACE_

#include "ompl/base/StateSpace.h"

namespace ompl
{
    namespace base
    {
        /** \brief State space sampler for SO(3), using quaternion representation  */
        class SO3StateSampler : public StateSampler
        {
        public:
            /** \brief Constructor */
            SO3StateSampler(const StateSpace *space) : StateSampler(space)
            {
            }

            void sampleUniform(State *state) override;
            /** \brief 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. */
            void sampleUniformNear(State *state, const State *near, const double distance) override;
            /** \brief Sample a state such that the expected distance between
                mean and state is 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. */
            void sampleGaussian(State *state, const State *mean, const double stdDev) override;
        };

        /** \brief A state space representing SO(3). The internal
            representation is done with quaternions. The distance
            between states is the angle between quaternions and
            interpolation is done with slerp. */
        class SO3StateSpace : public StateSpace
        {
        public:
            /** \brief The definition of a state in SO(3) represented as a unit quaternion

                \note The order of the elements matters in this
                definition for the SO3StateUniformSampler::sample()
                function. */
            class StateType : public State
            {
            public:
                /** \brief Set the quaternion from axis-angle representation.  The angle is given in radians. */
                void setAxisAngle(double ax, double ay, double az, double angle);

                /** \brief Set the state to identity -- no rotation */
                void setIdentity();

                /** \brief X component of quaternion vector */
                double x;

                /** \brief Y component of quaternion vector */
                double y;

                /** \brief Z component of quaternion vector */
                double z;

                /** \brief scalar component of quaternion */
                double w;
            };

            SO3StateSpace() : StateSpace()
            {
                setName("SO3" + getName());
                type_ = STATE_SPACE_SO3;
            }

            ~SO3StateSpace() override = default;

            /** \brief Compute the norm of a state */
            double norm(const StateType *state) const;

            unsigned int getDimension() const override;

            double getMaximumExtent() const override;

            double getMeasure() const override;

            void enforceBounds(State *state) const override;

            bool satisfiesBounds(const State *state) const override;

            void copyState(State *destination, const State *source) const override;

            unsigned int getSerializationLength() const override;

            void serialize(void *serialization, const State *state) const override;

            void deserialize(State *state, const void *serialization) const override;

            double distance(const State *state1, const State *state2) const override;

            bool equalStates(const State *state1, const State *state2) const override;

            void interpolate(const State *from, const State *to, const double t, State *state) const override;

            StateSamplerPtr allocDefaultStateSampler() const override;

            State *allocState() const override;

            void freeState(State *state) const override;

            double *getValueAddressAtIndex(State *state, const unsigned int index) const override;

            void printState(const State *state, std::ostream &out) const override;

            void printSettings(std::ostream &out) const override;

            void registerProjections() override;
        };
    }
}

#endif
