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ompl::control::ODEStateSpace::StateType Class Reference

ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...

#include <ODEStateSpace.h>

Inheritance diagram for ompl::control::ODEStateSpace::StateType:

List of all members.

Public Member Functions

const double * getBodyPosition (unsigned int body) const
 Get the position (x, y, z) of the body at index body.
double * getBodyPosition (unsigned int body)
 Get the position (x, y, z) of the body at index body.
const
base::SO3StateSpace::StateType
getBodyRotation (unsigned int body) const
 Get the quaternion of the body at index body.
base::SO3StateSpace::StateTypegetBodyRotation (unsigned int body)
 Get the quaternion of the body at index body.
const double * getBodyLinearVelocity (unsigned int body) const
 Get the linear velocity (x, y, z) of the body at index body.
double * getBodyLinearVelocity (unsigned int body)
 Get the linear velocity (x, y, z) of the body at index body.
const double * getBodyAngularVelocity (unsigned int body) const
 Get the angular velocity (x, y, z) of the body at index body.
double * getBodyAngularVelocity (unsigned int body)
 Get the angular velocity (x, y, z) of the body at index body.

Public Attributes

int collision
 Flag containing information about state validity.

Detailed Description

ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for.

Definition at line 68 of file ODEStateSpace.h.


Member Data Documentation


The documentation for this class was generated from the following file: