# stateSpaceSE3

## Description

The `stateSpaceSE3`

object stores parameters and states in the SE(3)
state space, which is composed of state vectors represented by [*x*,
*y*, *z*, *qw*, *qx*,
*qy*, *qz*]. *x*, *y*,
and *z* are Cartesian coordinates. *qw*,
*qx*, *qy*, and *qz* represent the
orientation in a quaternion. The object uses Euclidean distance calculation and linear
interpolation for the translation component of the state. The object uses quaternion distance
calculation and spherical linear interpolation for the rotation component of the
state.

## Creation

### Description

creates an SE(3) state
space object with default state bounds for `space`

= stateSpaceSE3*x*, *y*, and
*z*. The state variables *qw*, *qx*,
*qy*, and *qz* corresponding to orientation are not
bounded.

creates an SE(3) state space object with state bounds specified as a 7-by-2 matrix. Each
row specifies the minimum and maximum value for a dimension of the state in the order
`space`

= stateSpaceSE3(`bounds`

)*x*, *y*, *z*, *qw*,
*qx*, *qy*, and *qz*. The input
`bounds`

sets the `StateBounds`

property.

## Properties

## Object Functions

`copy` | Create deep copy of state space object |

`distance` | Distance between two states |

`enforceStateBounds` | Reduce state to state bounds |

`interpolate` | Interpolate between states |

`sampleUniform` | Sample state using uniform distribution |

## Examples

## Extended Capabilities

## Version History

**Introduced in R2020b**