Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | List of all members
KoulesSimulator Class Reference

Public Member Functions

 KoulesSimulator (const ompl::control::SpaceInformation *si)
 
void step (const ompl::base::State *start, const ompl::control::Control *control, const double t, ompl::base::State *result)
 

Protected Types

using CollisionEvent = std::tuple< double, unsigned int, unsigned int >
 
using CollisionEventQueue = std::priority_queue< CollisionEvent, std::vector< CollisionEvent >, std::greater< CollisionEvent > >
 

Protected Member Functions

void initCollisionEvents ()
 
double wallCollideEvent (unsigned int i, int dim)
 
void elasticCollision (unsigned int i, unsigned int j)
 
void computeCollisionEvent (unsigned int i, unsigned int j)
 
void advance (double t)
 
void markAsDead (unsigned int i)
 
void updateShip (const ompl::control::Control *control, double t)
 

Protected Attributes

const ompl::control::SpaceInformation * si_
 
unsigned int numDimensions_
 
unsigned int numKoules_
 
std::vector< double > qcur_
 
std::vector< double > qnext_
 
std::vector< bool > dead_
 
double time_
 
double endTime_
 
CollisionEventQueue collisionEvents_
 

Detailed Description

Definition at line 46 of file KoulesSimulator.h.

The documentation for this class was generated from the following files: