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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
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 void propagate(const ob::State *state, const oc::Control* control, const double duration, ob::State *result) const override
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
ompl::control::Control ControlType
Define the type of control allocated by this control space.
Definition ControlSpace.h:67
A control space representing Rn.
Definition RealVectorControlSpace.h:62
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
Model the effect of controls on system states.
Definition StatePropagator.h:62
virtual void propagate(const base::State *state, const Control *control, double duration, base::State *result) const =0
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
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