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();
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
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)
void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
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)