TriangulationDemo.cpp
34 void sampleFullState(const ob::StateSamplerPtr& sampler, const std::vector<double>& coord, ob::State* s) const override
67 bool triContains(double x, double y, double ax, double ay, double bx, double by, double cx, double cy)
93 void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result)
100 result->as<ob::SE2StateSpace::StateType>()->as<ob::RealVectorStateSpace::StateType>(0)->values[0] =
103 result->as<ob::SE2StateSpace::StateType>()->as<ob::RealVectorStateSpace::StateType>(0)->values[1] =
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
const T * as(unsigned int index) const
Cast a component of this instance to a desired type.
Definition: State.h:95
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:78
virtual void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const =0
Samples a State using a projected coordinate and a StateSampler.
virtual void project(const base::State *s, std::vector< double > &coord) const =0
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:63
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:71
A TriangularDecomposition is a triangulation that ignores obstacles.
Definition: TriangularDecomposition.h:56
TriangularDecomposition(const base::RealVectorBounds &bounds, std::vector< Polygon > holes=std::vector< Polygon >(), std::vector< Polygon > intRegs=std::vector< Polygon >())
Creates a TriangularDecomposition over the given bounds, which must be 2-dimensional....
Definition: TriangularDecomposition.cpp:75
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: ConstrainedSpaceInformation.h:55
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:45
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49