This class contains the MORSE constructs OMPL needs to know about when planning. More...

Public Member Functions
	MorseEnvironment (const unsigned int controlDim, const std::vector< double > &controlBounds, const unsigned int rigidBodies, const std::vector< double > &positionBounds, const std::vector< double > &linvelBounds, const std::vector< double > &angvelBounds, const double stepSize, const unsigned int minControlSteps, const unsigned int maxControlSteps)

void	getControlBounds (std::vector< double > &lower, std::vector< double > &upper) const
	Get the control bounds – the bounding box in which to sample controls.

virtual void	readState (State *state)=0
	Query the internal state of the simulation.

virtual void	writeState (const State *state)=0
	Overwrite the internal state of the simulation.

virtual void	applyControl (const std::vector< double > &control)=0
	Configure simulation to proceed under a new control.

virtual void	worldStep (const double dur)=0
	Proceed with the simulation for the given number of seconds.

Public Attributes
const unsigned int	controlDim_
	The dimension of the control space for this simulation.

const std::vector< double >	controlBounds_
	Upper and lower bounds for each control dimension.

const unsigned int	rigidBodies_
	The number of rigid bodies in the simulation.

std::vector< double >	positionBounds_
	Upper and lower bounds on position in each spatial dimension.

std::vector< double >	linvelBounds_
	Upper and lower bounds on linear velocity in each spatial dimension.

std::vector< double >	angvelBounds_
	Upper and lower bounds on angular velocity in each spatial dimension.

double	stepSize_
	The simulation step size.

unsigned int	minControlSteps_
	The minimum number of times a control is applied in sequence.

unsigned int	maxControlSteps_
	The maximum number of times a control is applied in sequence.

bool	simRunning_
	Indicates whether the simulation has been shut down externally.

std::mutex	mutex_
	Lock to use when performing simulations in the world.

Detailed Description

This class contains the MORSE constructs OMPL needs to know about when planning.

Definition at line 130 of file MorseEnvironment.h.

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

Public Member Functions