RigidBodyPlanningWithControls.cpp
70 void sampleFullState(const ob::StateSamplerPtr& sampler, const std::vector<double>& coord, ob::State* s) const override
92 // return a value that is always true but uses the two variables we define, so we avoid compiler warnings
96 void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result)
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
A shared pointer wrapper for ompl::base::StateSampler.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:63
A GridDecomposition is a Decomposition implemented using a grid.
Definition: GridDecomposition.h:53
virtual void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const =0
Samples a State using a projected coordinate and a StateSampler.
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:78
std::chrono::system_clock::duration duration
Representation of a time duration.
Definition: Time.h:67
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
virtual void project(const base::State *s, std::vector< double > &coord) const =0
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition...
GridDecomposition(int len, int dim, const base::RealVectorBounds &b)
Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length...
Definition: GridDecomposition.cpp:45
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:95
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:70
A shared pointer wrapper for ompl::base::Path.