ompl::app Namespace Reference

Namespace containing code specific to OMPL.app. More...

Classes

class  AppBase
 
struct  AppTypeSelector
 
struct  AppTypeSelector< CONTROL >
 
class  BlimpPlanning
 A class to facilitate planning for a simple blimp model. More...
 
class  DynamicCarPlanning
 A class to facilitate planning for a generic second-order car model. More...
 
class  FCLContinuousMotionValidator
 A motion validator that utilizes FCL's continuous collision checking. More...
 
class  FCLMethodWrapper
 Wrapper for FCL discrete and continuous collision checking and distance queries. More...
 
class  FCLStateValidityChecker
 Wrapper for FCL collision and distance checking. More...
 
class  GBlimpPlanning
 
class  GDynamicCarPlanning
 
class  GeometrySpecification
 
class  GKinematicCarPlanning
 
class  GQuadrotorPlanning
 
class  GSE2RigidBodyPlanning
 
class  GSE3RigidBodyPlanning
 
class  KinematicCarPlanning
 A class to facilitate planning for a generic kinematic car model. More...
 
class  PQPStateValidityChecker
 Define an ompl::base::StateValidityChecker that can construct PQP models internally. The instance is still abstract however, as the isValid() function is not implemented (knowledge of the state space is needed for this function to be implemented) More...
 
class  QuadrotorPlanning
 A class to facilitate planning for a simple quadrotor model. More...
 
class  RenderGeometry
 
class  RigidBodyGeometry
 
class  SE2MultiRigidBodyPlanning
 Wrapper for ompl::app::RigidBodyPlanning that plans for multiple rigid bodies in SE2. More...
 
class  SE2RigidBodyPlanning
 Wrapper for ompl::app::RigidBodyPlanning that plans for rigid bodies in SE2. More...
 
class  SE3MultiRigidBodyPlanning
 Wrapper for ompl::app::RigidBodyPlanning that plans for multiple rigid bodies in SE3. More...
 
class  SE3RigidBodyPlanning
 Wrapper for ompl::app::RigidBodyPlanning that plans for rigid bodies in SE3. More...
 

Typedefs

typedef std::function< const base::State *(const base::State *, unsigned int)> GeometricStateExtractor
 

Enumerations

enum  AppType { GEOMETRIC, CONTROL }
 
enum  MotionModel { Motion_2D, Motion_3D }
 Specify whether bodies are moving in 2D or bodies moving in 3D.
 
enum  CollisionChecker { PQP, FCL }
 Enumeration of the possible collision checker types.
 

Functions

void InferProblemDefinitionBounds (const base::ProblemDefinitionPtr &pdef, const GeometricStateExtractor &se, double factor, double add, unsigned int robotCount, const base::StateSpacePtr &space, MotionModel mtype)
 
void InferEnvironmentBounds (const base::StateSpacePtr &space, const RigidBodyGeometry &rbg)
 
base::ProjectionEvaluatorPtr allocGeometricStateProjector (const base::StateSpacePtr &space, MotionModel mtype, const base::StateSpacePtr &gspace, const GeometricStateExtractor &se)
 
control::DecompositionPtr allocDecomposition (const base::StateSpacePtr &space, MotionModel mtype, const base::StateSpacePtr &gspace)
 Allocate a default 2D/3D grid decomposition (depending on the MotionModel) for use with the SyclopEST and SyclopRRT planners.
 
ompl::base::OptimizationObjectivePtr getOptimizationObjective (const base::SpaceInformationPtr &si, const std::string &objective, double threshold)
 Create an optimization objective. The objective name can be: "length", "max min clearance", or "mechanical work".
 
 OMPL_CLASS_FORWARD (FCLMethodWrapper)
 
static void renderState (const base::SE2StateSpace::StateType &state)
 
static void renderState (const base::SE3StateSpace::StateType &state)
 
static void renderEdge (const base::SE2StateSpace::StateType &state1, const base::SE2StateSpace::StateType &state2)
 
static void renderEdge (const base::SE3StateSpace::StateType &state1, const base::SE3StateSpace::StateType &state2)
 
static void setStateColor (int tag)
 
int RenderPlannerData (const base::PlannerData &pd, const aiVector3D &translate, MotionModel m, const GeometricStateExtractor &gse, unsigned int robotCount)
 Render the planner states in pd, after shifting them by translate, using the motion model m. The SE2 (or SE3) states can be extracted from pd using gse. There are robotCount points to extract from each state. Return a gl list.
 

Detailed Description

Namespace containing code specific to OMPL.app.