MorseEnvironment.h
std::vector< double > angvelBounds_
Upper and lower bounds on angular velocity in each spatial dimension.
Definition: MorseEnvironment.h:85
virtual void writeState(const State *state)=0
Overwrite the internal state of the simulation.
void getControlBounds(std::vector< double > &lower, std::vector< double > &upper) const
Get the control bounds – the bounding box in which to sample controls.
Definition: MorseEnvironment.cpp:39
const unsigned int rigidBodies_
The number of rigid bodies in the simulation.
Definition: MorseEnvironment.h:76
const unsigned int controlDim_
The dimension of the control space for this simulation.
Definition: MorseEnvironment.h:70
This class contains the MORSE constructs OMPL needs to know about when planning.
Definition: MorseEnvironment.h:67
std::mutex mutex_
Lock to use when performing simulations in the world.
Definition: MorseEnvironment.h:100
bool simRunning_
Indicates whether the simulation has been shut down externally.
Definition: MorseEnvironment.h:97
virtual void worldStep(const double dur)=0
Proceed with the simulation for the given number of seconds.
virtual void readState(State *state)=0
Query the internal state of the simulation.
unsigned int maxControlSteps_
The maximum number of times a control is applied in sequence.
Definition: MorseEnvironment.h:94
std::vector< double > positionBounds_
Upper and lower bounds on position in each spatial dimension.
Definition: MorseEnvironment.h:79
const std::vector< double > controlBounds_
Upper and lower bounds for each control dimension.
Definition: MorseEnvironment.h:73
std::vector< double > linvelBounds_
Upper and lower bounds on linear velocity in each spatial dimension.
Definition: MorseEnvironment.h:82
unsigned int minControlSteps_
The minimum number of times a control is applied in sequence.
Definition: MorseEnvironment.h:91
virtual void applyControl(const std::vector< double > &control)=0
Configure simulation to proceed under a new control.