ompl::base::MorseEnvironment Class Referenceabstract

This class contains the MORSE constructs OMPL needs to know about when planning. More...

#include <ompl/extensions/morse/MorseEnvironment.h>

Public Member Functions

 MorseEnvironment (const unsigned int controlDim, const std::vector< double > &controlBounds, const unsigned int rigidBodies, const std::vector< double > &positionBounds, const std::vector< double > &linvelBounds, const std::vector< double > &angvelBounds, const double stepSize, const unsigned int minControlSteps, const unsigned int maxControlSteps)
 
void getControlBounds (std::vector< double > &lower, std::vector< double > &upper) const
 Get the control bounds – the bounding box in which to sample controls.
 
virtual void readState (State *state)=0
 Query the internal state of the simulation.
 
virtual void writeState (const State *state)=0
 Overwrite the internal state of the simulation.
 
virtual void applyControl (const std::vector< double > &control)=0
 Configure simulation to proceed under a new control.
 
virtual void worldStep (const double dur)=0
 Proceed with the simulation for the given number of seconds.
 

Public Attributes

const unsigned int controlDim_
 The dimension of the control space for this simulation.
 
const std::vector< double > controlBounds_
 Upper and lower bounds for each control dimension.
 
const unsigned int rigidBodies_
 The number of rigid bodies in the simulation.
 
std::vector< double > positionBounds_
 Upper and lower bounds on position in each spatial dimension.
 
std::vector< double > linvelBounds_
 Upper and lower bounds on linear velocity in each spatial dimension.
 
std::vector< double > angvelBounds_
 Upper and lower bounds on angular velocity in each spatial dimension.
 
double stepSize_
 The simulation step size.
 
unsigned int minControlSteps_
 The minimum number of times a control is applied in sequence.
 
unsigned int maxControlSteps_
 The maximum number of times a control is applied in sequence.
 
bool simRunning_
 Indicates whether the simulation has been shut down externally.
 
std::mutex mutex_
 Lock to use when performing simulations in the world.
 

Detailed Description

This class contains the MORSE constructs OMPL needs to know about when planning.

Definition at line 66 of file MorseEnvironment.h.


The documentation for this class was generated from the following files: