ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...
#include <ODEStateSpace.h>
Public Member Functions | |
const double * | getBodyPosition (unsigned int body) const |
Get the position (x, y, z) of the body at index body. | |
double * | getBodyPosition (unsigned int body) |
Get the position (x, y, z) of the body at index body. | |
const base::SO3StateSpace::StateType & | getBodyRotation (unsigned int body) const |
Get the quaternion of the body at index body. | |
base::SO3StateSpace::StateType & | getBodyRotation (unsigned int body) |
Get the quaternion of the body at index body. | |
const double * | getBodyLinearVelocity (unsigned int body) const |
Get the linear velocity (x, y, z) of the body at index body. | |
double * | getBodyLinearVelocity (unsigned int body) |
Get the linear velocity (x, y, z) of the body at index body. | |
const double * | getBodyAngularVelocity (unsigned int body) const |
Get the angular velocity (x, y, z) of the body at index body. | |
double * | getBodyAngularVelocity (unsigned int body) |
Get the angular velocity (x, y, z) of the body at index body. | |
Public Attributes | |
int | collision |
Flag containing information about state validity. |
ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for.
Definition at line 68 of file ODEStateSpace.h.
int ompl::control::ODEStateSpace::StateType::collision [mutable] |
Flag containing information about state validity.
Definition at line 129 of file ODEStateSpace.h.