MorseSimpleSetup.h
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34 
35 /* Authors: Ioan Sucan, Caleb Voss */
36 
37 #ifndef OMPL_EXTENSION_MORSE_SIMPLE_SETUP_
38 #define OMPL_EXTENSION_MORSE_SIMPLE_SETUP_
39 
40 #include "ompl/control/SimpleSetup.h"
41 #include "ompl/extensions/morse/MorseEnvironment.h"
42 #include "ompl/extensions/morse/MorseStateSpace.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
51  {
52  public:
55 
61 
62  virtual ~MorseSimpleSetup()
63  {
64  }
65 
68  {
69  return env_;
70  }
71 
74 
76  void setCurrentState(const base::ScopedState<> &state);
77 
79  void setCurrentState(const base::State *state);
80 
84  void setup() override;
85 
88 
91  void playPath(const base::PathPtr &path) const;
92 
94  void playSolutionPath() const;
95 
99  base::PathPtr simulateControl(const double *control, unsigned int steps) const;
100 
104  base::PathPtr simulateControl(const Control *control, unsigned int steps) const;
105 
110  base::PathPtr simulate(unsigned int steps) const;
111  };
112  }
113 }
114 
115 #endif
void playPath(const base::PathPtr &path) const
Set the MORSE world to the states that are contained in a given path, sequentially.
base::PathPtr simulate(unsigned int steps) const
Simulate the MORSE environment forward for steps simulation steps, using the null control (ompl::cont...
Definition of a scoped state.
Definition: ScopedState.h:56
Definition of an abstract control.
Definition: Control.h:47
const base::MorseEnvironmentPtr env_
Pointer to the environment representing the MORSE simulation.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:63
void setup() override
This method will create the necessary classes for planning. The solve() method will call this functio...
MorseSimpleSetup(const base::MorseEnvironmentPtr &env)
The control space is assumed to be MorseControlSpace. The state space is assumed to be MorseStateSpac...
base::PlannerStatus solve()
Run the planner until solution is found or user shuts down MORSE.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void playSolutionPath() const
Call playPath() on the solution path, if one is available.
base::PathPtr simulateControl(const double *control, unsigned int steps) const
Simulate the MORSE environment forward for steps simulation steps, using the control control...
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
Definition of an abstract state.
Definition: State.h:49
base::ScopedState< base::MorseStateSpace > getCurrentState() const
Get the current MORSE state (read parameters from MORSE bodies)
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment associated with this setup.
Create the set of classes typically needed to solve a control problem when forward propagation is com...
A shared pointer wrapper for ompl::base::MorseEnvironment.
A shared pointer wrapper for ompl::base::Path.
void setCurrentState(const base::ScopedState<> &state)
Set the current MORSE state (set parameters for MORSE bodies)