Public Member Functions | |
KoulesSimulator (const ompl::control::SpaceInformation *si) | |
void | step (const ompl::base::State *start, const ompl::control::Control *control, const double t, ompl::base::State *result) |
Protected Types | |
using | CollisionEvent = std::tuple<double, unsigned int, unsigned int> |
using | CollisionEventQueue |
Protected Member Functions | |
void | initCollisionEvents () |
double | wallCollideEvent (unsigned int i, int dim) |
void | elasticCollision (unsigned int i, unsigned int j) |
void | computeCollisionEvent (unsigned int i, unsigned int j) |
void | advance (double t) |
void | markAsDead (unsigned int i) |
void | updateShip (const ompl::control::Control *control, double t) |
Protected Attributes | |
const ompl::control::SpaceInformation * | si_ |
unsigned int | numDimensions_ |
unsigned int | numKoules_ |
std::vector< double > | qcur_ |
std::vector< double > | qnext_ |
std::vector< bool > | dead_ |
double | time_ |
double | endTime_ |
CollisionEventQueue | collisionEvents_ |
Detailed Description
Definition at line 46 of file KoulesSimulator.h.
Member Typedef Documentation
◆ CollisionEvent
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protected |
Definition at line 57 of file KoulesSimulator.h.
◆ CollisionEventQueue
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protected |
Definition at line 60 of file KoulesSimulator.h.
Constructor & Destructor Documentation
◆ KoulesSimulator()
KoulesSimulator::KoulesSimulator | ( | const ompl::control::SpaceInformation * | si | ) |
Definition at line 114 of file KoulesSimulator.cpp.
Member Function Documentation
◆ advance()
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protected |
Definition at line 286 of file KoulesSimulator.cpp.
◆ computeCollisionEvent()
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protected |
Definition at line 209 of file KoulesSimulator.cpp.
◆ elasticCollision()
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protected |
Definition at line 253 of file KoulesSimulator.cpp.
◆ initCollisionEvents()
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protected |
Definition at line 159 of file KoulesSimulator.cpp.
◆ markAsDead()
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protected |
Definition at line 299 of file KoulesSimulator.cpp.
◆ step()
void KoulesSimulator::step | ( | const ompl::base::State * | start, |
const ompl::control::Control * | control, | ||
const double | t, | ||
ompl::base::State * | result ) |
Definition at line 306 of file KoulesSimulator.cpp.
◆ updateShip()
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protected |
Definition at line 124 of file KoulesSimulator.cpp.
◆ wallCollideEvent()
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protected |
Definition at line 197 of file KoulesSimulator.cpp.
Member Data Documentation
◆ collisionEvents_
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protected |
Definition at line 100 of file KoulesSimulator.h.
◆ dead_
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protected |
Definition at line 94 of file KoulesSimulator.h.
◆ endTime_
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protected |
Definition at line 98 of file KoulesSimulator.h.
◆ numDimensions_
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protected |
Definition at line 86 of file KoulesSimulator.h.
◆ numKoules_
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protected |
Definition at line 88 of file KoulesSimulator.h.
◆ qcur_
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protected |
Definition at line 90 of file KoulesSimulator.h.
◆ qnext_
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protected |
Definition at line 92 of file KoulesSimulator.h.
◆ si_
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protected |
Definition at line 84 of file KoulesSimulator.h.
◆ time_
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protected |
Definition at line 96 of file KoulesSimulator.h.
The documentation for this class was generated from the following files:
- demos/Koules/KoulesSimulator.h
- demos/Koules/KoulesSimulator.cpp