Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE. More...
#include <ODESimpleSetup.h>
Public Member Functions | |
ODESimpleSetup (const ControlSpacePtr &space) | |
Constructor needs the control space needed for planning. | |
ODESimpleSetup (const base::StateSpacePtr &space) | |
The control space is assumed to be ODEControlSpace. Constructor only needs the state space. | |
ODESimpleSetup (const ODEEnvironmentPtr &env) | |
The control space is assumed to be ODEControlSpace. The state space is assumed to be ODEStateSpace. Constructor only needs the ODE environment. | |
const ODEEnvironmentPtr & | getEnvironment (void) const |
Get the ODE environment associated to the state and control spaces. | |
base::ScopedState< ODEStateSpace > | getCurrentState (void) const |
Get the current ODE state (read parameters from ODE bodies) | |
void | setCurrentState (const base::ScopedState<> &state) |
Set the current ODE state (set parameters for ODE bodies) | |
void | setCurrentState (const base::State *state) |
Set the current ODE state (set parameters for ODE bodies) | |
void | setVolumeBounds (const base::RealVectorBounds &bounds) |
Set the bounds for the planning volume. | |
void | setLinearVelocityBounds (const base::RealVectorBounds &bounds) |
Set the bounds for the linear velocity. | |
void | setAngularVelocityBounds (const base::RealVectorBounds &bounds) |
Set the bounds for the angular velocity. | |
void | playPath (const base::PathPtr &path, double timeFactor=1.0) const |
Set the ODE world to the states that are contained in a given path, sequentially. Using timeFactor, the speed at which this sequence is iterated through is altered. | |
void | playSolutionPath (double timeFactor=1.0) const |
Call playPath() on the solution path, if one is available. | |
base::PathPtr | simulateControl (const double *control, unsigned int steps) const |
Simulate the ODE environment forward for steps simulation steps, using the control control. Construct a path representing this action. | |
base::PathPtr | simulateControl (const Control *control, unsigned int steps) const |
Simulate the ODE environment forward for steps simulation steps, using the control control. Construct a path representing this action. | |
base::PathPtr | simulate (unsigned int steps) const |
Simulate the ODE environment forward for steps simulation steps, using the null control (ompl::control::ControlSpace::nullControl()). Construct a path representing this action. | |
virtual void | setup (void) |
This method will create the necessary classes for planning. The solve() method will call this function automatically. |
Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE.
Definition at line 53 of file ODESimpleSetup.h.