DynamicCarPlanning.cpp
31 void ompl::app::DynamicCarPlanning::ode(const control::ODESolver::StateType& q, const control::Control *ctrl, control::ODESolver::StateType& qdot)
47 void ompl::app::DynamicCarPlanning::postPropagate(const base::State* /*state*/, const control::Control* /*control*/, const double /*duration*/, base::State* result)
64 getStateSpace()->as<base::CompoundStateSpace>()->as<base::RealVectorStateSpace>(1)->setBounds(bounds);
aiVector3D getRobotCenter(unsigned int robotIndex) const
Get the robot's center (average of all the vertices of all its parts)
Definition: RigidBodyGeometry.cpp:173
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
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:78
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:92