ompl::control::OpenDEStateSpace::StateType Class Reference
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...
#include <ompl/extensions/ode/OpenDEStateSpace.h>
Inheritance diagram for ompl::control::OpenDEStateSpace::StateType:
Public Member Functions | |
| const double * | getBodyPosition (unsigned int body) const |
| Get the position (x, y, z) of the body at index body. | |
| double * | getBodyPosition (unsigned int body) |
| Get the position (x, y, z) of the body at index body. | |
| const base::SO3StateSpace::StateType & | getBodyRotation (unsigned int body) const |
| Get the quaternion of the body at index body. | |
| base::SO3StateSpace::StateType & | getBodyRotation (unsigned int body) |
| Get the quaternion of the body at index body. | |
| const double * | getBodyLinearVelocity (unsigned int body) const |
| Get the linear velocity (x, y, z) of the body at index body. | |
| double * | getBodyLinearVelocity (unsigned int body) |
| Get the linear velocity (x, y, z) of the body at index body. | |
| const double * | getBodyAngularVelocity (unsigned int body) const |
| Get the angular velocity (x, y, z) of the body at index body. | |
| double * | getBodyAngularVelocity (unsigned int body) |
| Get the angular velocity (x, y, z) of the body at index body. | |
 Public Member Functions inherited from ompl::base::CompoundState | |
| template<class T > | |
| const T * | as (unsigned int index) const |
| Cast a component of this instance to a desired type. More... | |
| template<class T > | |
| T * | as (const unsigned int index) |
| Cast a component of this instance to a desired type. More... | |
| const State * | operator[] (unsigned int i) const |
| Access const element ith component. This does not check whether the index is within bounds. | |
| State * | operator[] (unsigned int i) |
| Access element ith component. This does not check whether the index is within bounds. | |
| Public Member Functions inherited from ompl::base::State | |
| template<class T > | |
| const T * | as () const |
| Cast this instance to a desired type. More... | |
| template<class T > | |
| T * | as () |
| Cast this instance to a desired type. More... | |
Public Attributes | |
| int | collision {0} |
| Flag containing information about state validity. More... | |
| Public Attributes inherited from ompl::base::CompoundState | |
| State ** | components {nullptr} |
| The components that make up a compound state. | |
Detailed Description
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for.
Definition at line 175 of file OpenDEStateSpace.h.
Member Data Documentation
◆ collision
|
mutable |
Flag containing information about state validity.
- BIT 0: (OpenDEStateSpace::STATE_COLLISION_KNOWN_BIT)
- BIT 1: (OpenDEStateSpace::STATE_COLLISION_VALUE_BIT)
- BIT 2: (OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT)
- BIT 3: (OpenDEStateSpace::STATE_VALIDITY_VALUE_BIT)
Definition at line 234 of file OpenDEStateSpace.h.
The documentation for this class was generated from the following file:
- ompl/extensions/ode/OpenDEStateSpace.h