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ompl::control::PathControl Class Reference

Definition of a control path. More...

#include <PathControl.h>

Inheritance diagram for ompl::control::PathControl:

List of all members.

Public Member Functions

 PathControl (const base::SpaceInformationPtr &si)
 Constructor.
 PathControl (const PathControl &path)
 Copy constructor.
PathControloperator= (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.

Detailed Description

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.


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