OpenDERigidBodyPlanning.cpp
91 bool isValidCollision(dGeomID /*geom1*/, dGeomID /*geom2*/, const dContact& /*contact*/) const override
192 // Define our own space, to include a distance function we want and register a default projection
232 // this will take care of setting a proper collision checker and the starting state for the planner as the initial OpenDE state
Create the set of classes typically needed to solve a control problem when forward propagation is com...
Definition: OpenDESimpleSetup.h:51
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual void applyControl(const double *control) const =0
Application of a control. This function sets the forces/torques/velocities for bodies in the simulati...
virtual unsigned int getDimension() const =0
Return the dimension of the projection defined by this evaluator.
virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact &contact) const
Decide whether a collision is a valid one or not. In some cases, collisions between some bodies can b...
Definition: OpenDEEnvironment.cpp:44
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
virtual double distanceGoal(const State *st) const =0
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
Definition: StateSpace.cpp:244
virtual void getControlBounds(std::vector< double > &lower, std::vector< double > &upper) const =0
Get the control bounds – the bounding box in which to sample controls.
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
This class contains the OpenDE constructs OMPL needs to know about when planning. ...
Definition: OpenDEEnvironment.h:66
State space representing OpenDE states.
Definition: OpenDEStateSpace.h:50
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
virtual void defaultCellSizes()
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: ProjectionEvaluator.cpp:215
virtual unsigned int getControlDimension() const =0
Number of parameters (double values) needed to specify a control input.
A shared pointer wrapper for ompl::base::SpaceInformation.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:59
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
virtual void project(const State *state, EuclideanProjection &projection) const =0
Compute the projection as an array of double values.
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const
Parameters to set when contacts are created between geom1 and geom2.
Definition: OpenDEEnvironment.cpp:50
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:47
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:133
A shared pointer wrapper for ompl::control::OpenDEEnvironment.