OpenDEEnvironment.h
120 virtual void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const = 0;
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 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
std::mutex mutex_
Lock to use when performing simulations in the world. (OpenDE simulations are NOT thread safe) ...
Definition: OpenDEEnvironment.h:103
unsigned int minControlSteps_
The minimum number of times a control is applies in sequence.
Definition: OpenDEEnvironment.h:100
unsigned int maxControlSteps_
The maximum number of times a control is applies in sequence.
Definition: OpenDEEnvironment.h:97
std::vector< dSpaceID > collisionSpaces_
The set of spaces where contacts need to be evaluated before simulation takes place.
Definition: OpenDEEnvironment.h:73
unsigned int maxContacts_
The maximum number of contacts to create between two bodies when a collision occurs.
Definition: OpenDEEnvironment.h:91
dWorldID world_
The OpenDE world where the simulation is performed.
Definition: OpenDEEnvironment.h:70
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.
This class contains the OpenDE constructs OMPL needs to know about when planning. ...
Definition: OpenDEEnvironment.h:66
std::map< dGeomID, std::string > geomNames_
Optional map of names given to geoms. This is useful when collision checking is verbose.
Definition: OpenDEEnvironment.h:81
virtual unsigned int getControlDimension() const =0
Number of parameters (double values) needed to specify a control input.
virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const
Get the maximum number of contacts to set up between two colliding geoms. By default, this just returns the member variable maxContacts.
Definition: OpenDEEnvironment.cpp:39
std::vector< dBodyID > stateBodies_
The set of bodies that need to be considered part of the state when planning. This is not necessarily...
Definition: OpenDEEnvironment.h:78
std::string getGeomName(dGeomID geom) const
Get the name of a body.
Definition: OpenDEEnvironment.cpp:60
void setGeomName(dGeomID geom, const std::string &name)
Set the name of a body.
Definition: OpenDEEnvironment.cpp:68
dJointGroupID contactGroup_
The group of joints where contacts are created.
Definition: OpenDEEnvironment.h:88
bool verboseContacts_
Issue debug messages when contacts are found. Default is false. This should only be used for debuggin...
Definition: OpenDEEnvironment.h:85
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