This namespace contains sampling based planning routines used by planning under differential constraints. More...
Classes | |
class | Control |
Definition of an abstract control. More... | |
class | CompoundControl |
Definition of a compound control. More... | |
class | ControlSampler |
Abstract definition of a control sampler. Motion planners that need to sample controls will call functions from this class. Planners should call the versions of sample() and sampleNext() with most arguments, whenever this information is available. More... | |
class | CompoundControlSampler |
Definition of a compound control sampler. This is useful to construct samplers for compound controls. More... | |
class | ControlSpace |
A control space representing the space of applicable controls. More... | |
class | CompoundControlSpace |
A control space to allow the composition of control spaces. More... | |
class | PathControl |
Definition of a control path. More... | |
class | PlannerData |
Datatype holding data a planner can expose for debug purposes. More... | |
class | KPIECE1 |
Kinodynamic Planning by Interior-Exterior Cell Exploration. More... | |
class | RRT |
Rapidly-exploring Random Tree. More... | |
class | SimpleSetup |
Create the set of classes typically needed to solve a control problem. More... | |
class | SpaceInformation |
Space information containing necessary information for planning with controls. setup() needs to be called before use. More... | |
class | RealVectorControlUniformSampler |
Uniform sampler for the Rn state space. More... | |
class | RealVectorControlSpace |
A control space representing Rn. The distance function is the L2 norm. More... | |
class | StatePropagator |
class | ODEControlSpace |
Representation of controls applied in ODE environments. This is an array of double values. More... | |
class | ODEEnvironment |
This class contains the ODE constructs OMPL needs to know about when planning. More... | |
class | ODESimpleSetup |
Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE. More... | |
class | ODEStatePropagator |
State propagation with ODE. Only forward propagation is possible. More... | |
class | ODEStateSpace |
State space representing ODE states. More... | |
class | ODEStateValidityChecker |
The simplest state validity checker: all states are valid. More... | |
class | ControlSamplerPtr |
A boost shared pointer wrapper for ompl::control::ControlSampler. More... | |
class | ControlSpacePtr |
A boost shared pointer wrapper for ompl::control::ControlSpace. More... | |
class | SpaceInformationPtr |
A boost shared pointer wrapper for ompl::control::SpaceInformation. More... | |
class | ODEEnvironmentPtr |
A boost shared pointer wrapper for ompl::control::ODEEnvironment. More... | |
Typedefs | |
typedef boost::function1 < ControlSamplerPtr, const ControlSpace * > | ControlSamplerAllocator |
Definition of a function that can allocate a control sampler. | |
typedef boost::function4< void, const base::State *, const Control *, const double, base::State * > | StatePropagatorFn |
A function that achieves state propagation. | |
Functions | |
ClassForward (ControlSpace) | |
Forward declaration of ompl::control::ControlSpace. | |
ClassForward (ControlSampler) | |
Forward declaration of ompl::control::ControlSampler. | |
base::PlannerPtr | getDefaultPlanner (const base::GoalPtr &goal) |
Given a goal specification, decide on a planner for that goal. | |
ClassForward (SpaceInformation) | |
Forward declaration of ompl::control::SpaceInformation. | |
ClassForward (StatePropagator) | |
Forward declaration of ompl::control::StatePropagator. | |
ClassForward (ODEEnvironment) | |
Forward declaration of ompl::control::ODEEnvironment. |
This namespace contains sampling based planning routines used by planning under differential constraints.