RigidBodyPlanningWithIntegrationAndControls.cpp
63 void operator()(const ob::State *state, const oc::Control *control, std::valarray<double> &dstate) const
98 EulerIntegrator(const ob::StateSpace *space, double timeStep) : space_(space), timeStep_(timeStep), ode_(space)
102 void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result) const
145 const ob::RealVectorStateSpace::StateType *pos = se2state->as<ob::RealVectorStateSpace::StateType>(0);
153 // return a value that is always true but uses the two variables we define, so we avoid compiler warnings
162 DemoControlSpace(const ob::StateSpacePtr &stateSpace) : oc::RealVectorControlSpace(stateSpace, 2)
176 virtual void propagate(const ob::State *state, const oc::Control* control, const double duration, ob::State *result) const
225 ss.setStatePropagator(oc::StatePropagatorPtr(new DemoStatePropagator(ss.getSpaceInformation())));
244 static_cast<DemoStatePropagator*>(ss.getStatePropagator().get())->setIntegrationTimeStep(ss.getSpaceInformation()->getPropagationStepSize());
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
A boost shared pointer wrapper for ompl::base::StateSpace.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:64
CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:549
Model the effect of controls on system states.
Definition: StatePropagator.h:62
A boost shared pointer wrapper for ompl::control::ControlSpace.
bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box.
Definition: SpaceInformation.h:119
A control space representing Rn.
Definition: RealVectorControlSpace.h:63
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
A boost shared pointer wrapper for ompl::control::SpaceInformation.
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69