SE3MultiRigidBodyPlanning.h
45 base::ScopedState<> getFullStateFromGeometricComponent(const base::ScopedState<> &state) const override
69 const base::State* getGeometricComponentStateInternal(const base::State* state, unsigned int index) const override;
75 }
unsigned int n_
The number of independent rigid bodies to plan for.
Definition: SE3MultiRigidBodyPlanning.h:96
A space to allow the composition of state spaces.
Definition: StateSpace.h:637
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:156
SE3MultiRigidBodyPlanning(unsigned int n)
Constructs an instance of multiple rigid bodies for 3D geometric planning. n is the number of indepen...
Definition: SE3MultiRigidBodyPlanning.cpp:15
const base::State * getGeometricComponentStateInternal(const base::State *state, unsigned int index) const override
Returns the state corresponding to the indexth rigid body in the compound state.
Definition: SE3MultiRigidBodyPlanning.cpp:58
base::ScopedState getDefaultStartState() const override
Constructs the default start state where all robots begin at their geometric center....
Definition: SE3MultiRigidBodyPlanning.cpp:42