ompl::control::OpenDEStateSpace::StateType Class Reference

OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...

#include <ompl/extensions/opende/OpenDEStateSpace.h>

Inheritance diagram for ompl::control::OpenDEStateSpace::StateType:

Public Member Functions

const double * getBodyPosition (unsigned int body) const
 Get the position (x, y, z) of the body at index body.
 
double * getBodyPosition (unsigned int body)
 Get the position (x, y, z) of the body at index body.
 
const base::SO3StateSpace::StateTypegetBodyRotation (unsigned int body) const
 Get the quaternion of the body at index body.
 
base::SO3StateSpace::StateTypegetBodyRotation (unsigned int body)
 Get the quaternion of the body at index body.
 
const double * getBodyLinearVelocity (unsigned int body) const
 Get the linear velocity (x, y, z) of the body at index body.
 
double * getBodyLinearVelocity (unsigned int body)
 Get the linear velocity (x, y, z) of the body at index body.
 
const double * getBodyAngularVelocity (unsigned int body) const
 Get the angular velocity (x, y, z) of the body at index body.
 
double * getBodyAngularVelocity (unsigned int body)
 Get the angular velocity (x, y, z) of the body at index body.
 
- Public Member Functions inherited from ompl::base::CompoundState
template<class T >
const T * as (unsigned int index) const
 Cast a component of this instance to a desired type. More...
 
template<class T >
T * as (const unsigned int index)
 Cast a component of this instance to a desired type. More...
 
const Stateoperator[] (unsigned int i) const
 Access const element ith component. This does not check whether the index is within bounds.
 
Stateoperator[] (unsigned int i)
 Access element ith component. This does not check whether the index is within bounds.
 
- Public Member Functions inherited from ompl::base::State
template<class T >
const T * as () const
 Cast this instance to a desired type. More...
 
template<class T >
T * as ()
 Cast this instance to a desired type. More...
 

Public Attributes

int collision {0}
 Flag containing information about state validity. More...
 
- Public Attributes inherited from ompl::base::CompoundState
State ** components {nullptr}
 The components that make up a compound state.
 

Detailed Description

OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for.

Definition at line 79 of file OpenDEStateSpace.h.

Member Data Documentation

◆ collision

int ompl::control::OpenDEStateSpace::StateType::collision {0}
mutable

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