37 #ifndef DEMOS_KOULES_SIMPLESETUP_
38 #define DEMOS_KOULES_SIMPLESETUP_
40 #include <ompl/control/SimpleSetup.h>
42 OMPL_CLASS_FORWARD(KoulesSetup);
48 KoulesSetup(
unsigned int numKoules,
const std::string& plannerName,
49 const std::vector<double>& stateVec = std::vector<double>());
50 KoulesSetup(
unsigned int numKoules,
const std::string& plannerName,
double kouleVel);
56 void initialize(
unsigned int numKoules,
const std::string& plannerName,
57 const std::vector<double>& stateVec = std::vector<double>());
A shared pointer wrapper for ompl::base::Planner.
Create the set of classes typically needed to solve a control problem.