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SpaceTimePlanning.cpp
56 const auto pos = state->as<ob::CompoundState>()->as<ob::RealVectorStateSpace::StateType>(0)->values[0];
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:134
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:79
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: ConstrainedSpaceInformation.h:86
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:126
A state space consisting of a space and a time component.
Definition: SpaceTimeStateSpace.h:114
Abstract definition for a class checking the validity of motions – path segments between states....
Definition: MotionValidator.h:128
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: MotionValidator.h:197
virtual bool checkMotion(const State *s1, const State *s2) const =0
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
double distanceSpace(const ompl::base::State *state1, const ompl::base::State *state2) const
The distance of just the space component.
Definition: SpaceTimeStateSpace.cpp:65
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition: SpaceInformation.h:158
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:111