Loading...
Searching...
No Matches
OpenDESimpleSetup.cpp
41ompl::control::OpenDESimpleSetup::OpenDESimpleSetup(const ControlSpacePtr &space) : SimpleSetup(space)
62 si_->setPropagationStepSize(getStateSpace()->as<OpenDEStateSpace>()->getEnvironment()->stepSize_);
63 si_->setMinMaxControlDuration(getStateSpace()->as<OpenDEStateSpace>()->getEnvironment()->minControlSteps_,
106void ompl::control::OpenDESimpleSetup::playPath(const base::PathPtr &path, double timeFactor) const
114 const geometric::PathGeometric &pg = ctl ? static_cast<PathControl *>(path.get())->asGeometric() :
131ompl::base::PathPtr ompl::control::OpenDESimpleSetup::simulateControl(const double *control, unsigned int steps) const
141ompl::base::PathPtr ompl::control::OpenDESimpleSetup::simulateControl(const Control *control, unsigned int steps) const
A shared pointer wrapper for ompl::control::ControlSpace.
Representation of controls applied in OpenDE environments. This is an array of double values.
Definition OpenDEControlSpace.h:50
A shared pointer wrapper for ompl::control::OpenDEEnvironment.
void playPath(const base::PathPtr &path, double timeFactor=1.0) const
Set the OpenDE world to the states that are contained in a given path, sequentially....
Definition OpenDESimpleSetup.cpp:106
base::PathPtr simulateControl(const double *control, unsigned int steps) const
Simulate the OpenDE environment forward for steps simulation steps, using the control control....
Definition OpenDESimpleSetup.cpp:131
base::PathPtr simulate(unsigned int steps) const
Simulate the OpenDE environment forward for steps simulation steps, using the null control (ompl::con...
Definition OpenDESimpleSetup.cpp:158
void setup() override
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition OpenDESimpleSetup.cpp:85
base::ScopedState< OpenDEStateSpace > getCurrentState() const
Get the current OpenDE state (read parameters from OpenDE bodies)
Definition OpenDESimpleSetup.cpp:68
void playSolutionPath(double timeFactor=1.0) const
Call playPath() on the solution path, if one is available.
Definition OpenDESimpleSetup.cpp:100
OpenDESimpleSetup(const ControlSpacePtr &space)
Constructor needs the control space needed for planning.
Definition OpenDESimpleSetup.cpp:41
void setCurrentState(const base::ScopedState<> &state)
Set the current OpenDE state (set parameters for OpenDE bodies)
Definition OpenDESimpleSetup.cpp:80
State space representing OpenDE states.
Definition OpenDEStateSpace.h:51
geometric::PathGeometric asGeometric() const
Convert this path into a geometric path (interpolation is performed and then states are copied)
Definition PathControl.cpp:91
The definition of a control in Rn
Definition RealVectorControlSpace.h:66
double * values
An array of length n, representing the value of the control.
Definition RealVectorControlSpace.h:83
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful)....
Definition SimpleSetup.h:139
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition SimpleSetup.cpp:54
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
Definition SimpleSetup.cpp:40
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition SimpleSetup.h:92
const ControlSpacePtr & getControlSpace() const
Get the current instance of the control space.
Definition SimpleSetup.h:98
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition PathGeometric.h:260
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition PathGeometric.h:248
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition Time.h:64
STL namespace.