State Spaces
This set of state spaces included in in OMPL:
- Rn (ompl::base::RealVectorStateSpace),
- SO(2) (rotation in the plane, ompl::base::SO2StateSpace),
- SO(3) (rotation in 3D, ompl::base::SO3StateSpace),
- SE(2) (rotation and translation in the plane, ompl::base::SE2StateSpace),
- SE(3) (rotation and translation in 3D, ompl::base::SE3StateSpace),
- Time (representation of time, ompl::base::TimeStateSpace) and
- ODE (representation of ODE states, if the Open Dynamics Engine library is available, ompl::control::ODEStateSpace).
In addition, the ompl::base::CompoundStateSpace allows users to create arbitrarily complex state spaces out of simpler state spaces.
Control Spaces
This set of control spaces included in in OMPL: