State propagation with OpenDE. Only forward propagation is possible. More...

#include <ompl/extensions/ode/OpenDEStatePropagator.h>

Inheritance diagram for ompl::control::OpenDEStatePropagator:

Public Member Functions
	OpenDEStatePropagator (const SpaceInformationPtr &si)
	Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an OpenDEStateSpace, an exception is thrown.

const OpenDEEnvironmentPtr &	getEnvironment () const
	Get the OpenDE environment this state propagator operates on.

bool	canPropagateBackward () const override
	Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).

void	propagate (const base::State state, const Control control, double duration, base::State *result) const override
	Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true) More...

Public Member Functions inherited from ompl::control::StatePropagator
	StatePropagator (SpaceInformation *si)
	Constructor.

	StatePropagator (const SpaceInformationPtr &si)
	Constructor.

virtual bool	steer (const base::State , const base::State , Control *, double &) const
	Compute the control that can take the system from state from to state to. Store that control in result; the duration for which the control should be applied is stored in duration; return true if the computation was successful; return false otherwise;. More...

virtual bool	canSteer () const
	Return true if the steer() function has been implemented.

Protected Attributes
OpenDEEnvironmentPtr	env_
	The OpenDE environment this state propagator operates on.

Protected Attributes inherited from ompl::control::StatePropagator
SpaceInformation *	si_
	The instance of space information this state propagator operates on.

Detailed Description

State propagation with OpenDE. Only forward propagation is possible.

At every propagation step, controls are applied using OpenDEEnvironment::applyControl(), contacts are computed by calling dSpaceCollide() on the spaces in OpenDEEnvironment::collisionSpaces_ and then dWorldQuickStep() is called. If the state argument of propagate() does not have its OpenDEStateSpace::StateType::collision field set, it is set based on the information returned by contact computation. Certain collisions (contacts) are allowed, as indicated by OpenDEEnvironment::isValidCollision().

Definition at line 124 of file OpenDEStatePropagator.h.

Member Function Documentation

◆ propagate()

void ompl::control::OpenDEStatePropagator::propagate	(	const base::State *	state,
		const Control *	control,
		double	duration,
		base::State *	result
	)		const

overridevirtual

Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true)

Parameters

state	the state to start propagating from
control	the control to apply
duration	the duration for which the control is applied
result	the state the system is brought to

Note: This function is not used for integration internally. If integrating a system of differential equations is needed, this should be implemented inside the propagate() function.; The pointer to the starting state and the result state may be the same.

Implements ompl::control::StatePropagator.

Definition at line 101 of file OpenDEStatePropagator.cpp.

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

ompl/extensions/ode/OpenDEStatePropagator.h
ompl/extensions/ode/src/OpenDEStatePropagator.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ propagate()