BlimpPlanning.h
41 odeSolver(std::make_shared<control::ODEBasicSolver<>>(si_, [this](const control::ODESolver::StateType& q, const control::Control *ctrl, control::ODESolver::StateType& qdot)
50 [this](const base::State* state, const control::Control* control, const double duration, base::State* result)
52 postPropagate(state, control, duration, result);
66 base::ScopedState<> getFullStateFromGeometricComponent(const base::ScopedState<> &state) const override;
76 const base::State* getGeometricComponentStateInternal(const base::State* state, unsigned int /*index*/) const override
81 void postPropagate(const base::State* state, const control::Control* control, double duration, base::State* result);
83 virtual void ode(const control::ODESolver::StateType& q, const control::Control *ctrl, control::ODESolver::StateType& qdot);
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:156
static StatePropagatorPtr getStatePropagator(ODESolverPtr solver, const PostPropagationEvent &postEvent=nullptr)
Retrieve a StatePropagator object that solves a system of ordinary differential equations defined by ...
Definition: ODESolver.h:191