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TriangulationDemo.cpp
34 void sampleFullState(const ob::StateSamplerPtr& sampler, const std::vector<double>& coord, ob::State* s) const override
67bool triContains(double x, double y, double ax, double ay, double bx, double by, double cx, double cy)
93void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result)
100 result->as<ob::SE2StateSpace::StateType>()->as<ob::RealVectorStateSpace::StateType>(0)->values[0] =
103 result->as<ob::SE2StateSpace::StateType>()->as<ob::RealVectorStateSpace::StateType>(0)->values[1] =
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition State.h:95
The lower and upper bounds for an Rn space.
Definition RealVectorBounds.h:48
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
void setStateValidityChecker(const StateValidityCheckerPtr &svc)
Set the instance of the state validity checker to use. Parallel implementations of planners assume th...
Definition SpaceInformation.h:146
ompl::base::State StateType
Define the type of state allocated by this space.
Definition StateSpace.h:78
The definition of a control in Rn
Definition RealVectorControlSpace.h:66
Create the set of classes typically needed to solve a control problem.
Definition SimpleSetup.h:63
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition SpaceInformation.h:71
A TriangularDecomposition is a triangulation that ignores obstacles.
Definition TriangularDecomposition.h:56
TriangularDecomposition(const base::RealVectorBounds &bounds, std::vector< Polygon > holes=std::vector< Polygon >(), std::vector< Polygon > intRegs=std::vector< Polygon >())
Creates a TriangularDecomposition over the given bounds, which must be 2-dimensional....
Definition TriangularDecomposition.cpp:75
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49