OpenDESimpleSetup.h
void setup() override
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: OpenDESimpleSetup.cpp:85
void setCurrentState(const base::ScopedState<> &state)
Set the current OpenDE state (set parameters for OpenDE bodies)
Definition: OpenDESimpleSetup.cpp:80
base::ScopedState< OpenDEStateSpace > getCurrentState() const
Get the current OpenDE state (read parameters from OpenDE bodies)
Definition: OpenDESimpleSetup.cpp:68
A shared pointer wrapper for ompl::control::ControlSpace.
void setVolumeBounds(const base::RealVectorBounds &bounds)
Set the bounds for the planning volume.
Definition: OpenDESimpleSetup.h:84
base::PathPtr simulate(unsigned int steps) const
Simulate the OpenDE environment forward for steps simulation steps, using the null control (ompl::con...
Definition: OpenDESimpleSetup.cpp:158
A shared pointer wrapper for ompl::control::OpenDEEnvironment.
Create the set of classes typically needed to solve a control problem when forward propagation is com...
Definition: OpenDESimpleSetup.h:52
OpenDESimpleSetup(const ControlSpacePtr &space)
Constructor needs the control space needed for planning.
Definition: OpenDESimpleSetup.cpp:41
void playSolutionPath(double timeFactor=1.0) const
Call playPath() on the solution path, if one is available.
Definition: OpenDESimpleSetup.cpp:100
base::PathPtr simulateControl(const double *control, unsigned int steps) const
Simulate the OpenDE environment forward for steps simulation steps, using the control control....
Definition: OpenDESimpleSetup.cpp:131
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:63
void setAngularVelocityBounds(const base::RealVectorBounds &bounds)
Set the bounds for the angular velocity.
Definition: OpenDESimpleSetup.h:96
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment associated to the state and control spaces.
Definition: OpenDESimpleSetup.h:69
void playPath(const base::PathPtr &path, double timeFactor=1.0) const
Set the OpenDE world to the states that are contained in a given path, sequentially....
Definition: OpenDESimpleSetup.cpp:106
State space representing OpenDE states.
Definition: OpenDEStateSpace.h:51
void setLinearVelocityBounds(const base::RealVectorBounds &bounds)
Set the bounds for the linear velocity.
Definition: OpenDESimpleSetup.h:90
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:92
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48