Point2DPlanning.cpp
85 bool plan(unsigned int start_row, unsigned int start_col, unsigned int goal_row, unsigned int goal_col)
125 const int w = std::min(maxWidth_, (int)p.getState(i)->as<ob::RealVectorStateSpace::StateType>()->values[0]);
126 const int h = std::min(maxHeight_, (int)p.getState(i)->as<ob::RealVectorStateSpace::StateType>()->values[1]);
145 const int w = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[0], maxWidth_);
146 const int h = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[1], maxHeight_);
A boost shared pointer wrapper for ompl::base::StateSpace.
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition: PathGeometric.h:225
virtual double getMaximumExtent() const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: RealVectorStateSpace.cpp:171
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition: PathGeometric.h:237
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:65
A boost shared pointer wrapper for ompl::geometric::SimpleSetup.
void interpolate(unsigned int count)
Insert a number of states in a path so that the path is made up of exactly count states. States are inserted uniformly (more states on longer segments). Changes are performed only if a path has less than count states.
Definition: PathGeometric.cpp:301
A state space representing Rn. The distance function is the L2 norm.
Definition: RealVectorStateSpace.h:75
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
Definition: PPM.h:49
void addDimension(double minBound=0.0, double maxBound=0.0)
Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this add...
Definition: RealVectorStateSpace.cpp:115
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
Definition: RealVectorStateSpace.cpp:103
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:48