Rigid body planning with integration and controls. This example extends the previous example by showing how one can plan for systems of ordinary differential equations in a generic way. This example uses simple Euler integration. For higher accuracy it is recommended to use the ODESolver class described in the next demo.
Planning for a simple hybrid system. This demo shows how one could plan for a car with gears. The gear is a discrete state variable, while its pose is continuous. The car needs to make a sharp turn and is forced to change gears. This is not the best way to plan for hybrid systems, since this approach ignores completely the structure that exist in the system. Nevertheless, it demonstrates that the planners in OMPL are state space agnostic and can plan in discrete or hybrid state spaces.