RigidBodyPlanningWithIntegrationAndControls.cpp
63 void operator()(const ob::State *state, const oc::Control *control, std::valarray<double> &dstate) const
98 EulerIntegrator(const ob::StateSpace *space, double timeStep) : space_(space), timeStep_(timeStep), ode_(space)
102 void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result) const
153 // return a value that is always true but uses the two variables we define, so we avoid compiler warnings
162 DemoControlSpace(const ob::StateSpacePtr &stateSpace) : oc::RealVectorControlSpace(stateSpace, 2)
176 void propagate(const ob::State *state, const oc::Control* control, const double duration, ob::State *result) const override
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
A shared pointer wrapper for ompl::base::StateSpace.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:63
virtual void propagate(const base::State *state, const Control *control, double duration, base::State *result) const =0
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
Model the effect of controls on system states.
Definition: StatePropagator.h:61
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
A control space representing Rn.
Definition: RealVectorControlSpace.h:61
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:78
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
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