OMPL官方教程学习笔记

Geometric planning for a rigid body in 3D

这是官方教程中的第一个示例：讲述了使用OMPL的一般组织架构，结合官方的API关系图更好理解

1. 使用SimplSetup类我们就需要实现：StateValidityChecker与StateSpace
2. 不适用SimpleSetup类我们就需要实现：StateValidityChecker、SpaceInformation、ProblemDefinition、planner、StateSpace
3. 我看了后面教程才知道，使用OMPL的过程中还要按照要求去实现一些函数，因此下面的代码看起来可能有些难以理解，不过这是官方第一个教程，重点是理解上面图中的关系。

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/* Author: Ioan Sucan */

#include <ompl/base/SpaceInformation.h>
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/geometric/planners/rrt/RRTConnect.h>
#include <ompl/geometric/SimpleSetup.h>

#include <ompl/config.h>
#include <iostream>

namespace ob = ompl::base;
namespace og = ompl::geometric;

bool isStateValid(const ob::State *state)
{
   
    // cast the abstract state type to the type we expect
    // 这里将抽象基类装换成复合状态空间SE(3),这是看了后面教程才知道的
    const auto *se3state = state->as<ob::SE3StateSpace::StateType>();

    // extract the first component of the state and cast it to what we expect
    // 从复合状态空间SE(3)中提取R^3
    const auto *pos = se3state->as<ob