Definition of a control path. More...
#include <PathControl.h>
Public Member Functions | |
PathControl (const base::SpaceInformationPtr &si) | |
Constructor. | |
PathControl (const PathControl &path) | |
Copy constructor. | |
PathControl & | operator= (const PathControl &other) |
Assignment operator. | |
virtual double | length (void) const |
The path length (sum of control durations) | |
virtual bool | check (void) const |
Check if the path is valid. | |
virtual void | print (std::ostream &out) const |
Print the path to a stream. | |
void | interpolate (void) |
Make the path such that all controls are applied for a single time step (computes intermediate states) | |
void | random (void) |
Set this path to a random segment. | |
bool | randomValid (unsigned int attempts) |
Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success. | |
geometric::PathGeometric | asGeometric (void) const |
Convert this path into a geometric path (interpolation is performed and then states are copied) | |
Public Attributes | |
std::vector< base::State * > | states |
The list of states that make up the path. | |
std::vector< Control * > | controls |
The control applied at each state. This array contains one element less than the list of states. | |
std::vector< double > | controlDurations |
The duration of the control applied at each state. This array contains one element less than the list of states. | |
Protected Member Functions | |
void | freeMemory (void) |
Free the memory allocated by the path. | |
void | copyFrom (const PathControl &other) |
Copy the content of a path to this one. |
Definition of a control path.
This is the type of path produced when planning with differential constraints.
Definition at line 54 of file PathControl.h.