ompl::app Namespace Reference

Namespace containing code specific to OMPL.app. More...

Classes
class	AppBase
struct	AppTypeSelector
struct	AppTypeSelector< AppType::CONTROL >
class	BlimpPlanning
	A class to facilitate planning for a simple blimp model. More...
class	DynamicCarPlanning
	A class to facilitate planning for a generic second-order car model. More...
class	FCLContinuousMotionValidator
	A motion validator that utilizes FCL's continuous collision checking. More...
class	FCLMethodWrapper
	Wrapper for FCL discrete and continuous collision checking and distance queries. More...
class	FCLStateValidityChecker
	Wrapper for FCL collision and distance checking. More...
class	GBlimpPlanning
class	GDynamicCarPlanning
class	GeometrySpecification
class	GKinematicCarPlanning
class	GQuadrotorPlanning
class	GSE2RigidBodyPlanning
class	GSE3RigidBodyPlanning
class	KinematicCarPlanning
	A class to facilitate planning for a generic kinematic car model. More...
class	PQPStateValidityChecker
	Define an ompl::base::StateValidityChecker that can construct PQP models internally. The instance is still abstract however, as the isValid() function is not implemented (knowledge of the state space is needed for this function to be implemented) More...
class	QuadrotorPlanning
	A class to facilitate planning for a simple quadrotor model. More...
class	RenderGeometry
class	RigidBodyGeometry
class	SE2MultiRigidBodyPlanning
	Wrapper for ompl::app::RigidBodyPlanning that plans for multiple rigid bodies in SE2. More...
class	SE2RigidBodyPlanning
	Wrapper for ompl::app::RigidBodyPlanning that plans for rigid bodies in SE2. More...
class	SE3MultiRigidBodyPlanning
	Wrapper for ompl::app::RigidBodyPlanning that plans for multiple rigid bodies in SE3. More...
class	SE3RigidBodyPlanning
	Wrapper for ompl::app::RigidBodyPlanning that plans for rigid bodies in SE3. More...

Typedefs
using	GeometricStateExtractor = std::function< const base::State *(const base::State *, unsigned int)>

Enumerations
enum	AppType { GEOMETRIC, CONTROL }
enum	MotionModel { Motion_2D, Motion_3D }
	Specify whether bodies are moving in 2D or bodies moving in 3D.
enum	CollisionChecker { PQP, FCL }
	Enumeration of the possible collision checker types.

Functions
void	InferProblemDefinitionBounds (const base::ProblemDefinitionPtr &pdef, const GeometricStateExtractor &se, double factor, double add, unsigned int robotCount, const base::StateSpacePtr &space, MotionModel mtype)
void	InferEnvironmentBounds (const base::StateSpacePtr &space, const RigidBodyGeometry &rbg)
base::ProjectionEvaluatorPtr	allocGeometricStateProjector (const base::StateSpacePtr &space, MotionModel mtype, const base::StateSpacePtr &gspace, const GeometricStateExtractor &se)
control::DecompositionPtr	allocDecomposition (const base::StateSpacePtr &space, MotionModel mtype, const base::StateSpacePtr &gspace)
	Allocate a default 2D/3D grid decomposition (depending on the MotionModel) for use with the SyclopEST and SyclopRRT planners.
ompl::base::OptimizationObjectivePtr	getOptimizationObjective (const base::SpaceInformationPtr &si, const std::string &objective, double threshold)
	Create an optimization objective. The objective name can be: "length", "max min clearance", or "mechanical work".
	OMPL_CLASS_FORWARD (FCLMethodWrapper)
static void	renderState (const base::SE2StateSpace::StateType &state)
static void	renderState (const base::SE3StateSpace::StateType &state)
static void	renderEdge (const base::SE2StateSpace::StateType &state1, const base::SE2StateSpace::StateType &state2)
static void	renderEdge (const base::SE3StateSpace::StateType &state1, const base::SE3StateSpace::StateType &state2)
static void	setStateColor (int tag)
int	RenderPlannerData (const base::PlannerData &pd, const aiVector3D &translate, MotionModel m, const GeometricStateExtractor &gse, unsigned int count)
	Render the planner states in pd, after shifting them by translate, using the motion model m. The SE2 (or SE3) states can be extracted from pd using gse. There are robotCount points to extract from each state. Return a gl list.

Detailed Description

Namespace containing code specific to OMPL.app.