Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE. More...
#include <ODESimpleSetup.h>
Public Member Functions | |
| base::ScopedState< ODEStateSpace > | getCurrentState (void) const |
| Get the current ODE state (read parameters from ODE bodies). | |
| const ODEEnvironmentPtr & | getEnvironment (void) const |
| Get the ODE environment associated to the state and control spaces. | |
| ODESimpleSetup (const ODEEnvironmentPtr &env) | |
| The control space is assumed to be ODEControlSpace. The state space is assumed to be ODEStateSpace. Constructor only needs the ODE environment. | |
| ODESimpleSetup (const base::StateSpacePtr &space) | |
| The control space is assumed to be ODEControlSpace. Constructor only needs the state space. | |
| ODESimpleSetup (const ControlSpacePtr &space) | |
| Constructor needs the control space needed for planning. | |
| void | playPath (const base::PathPtr &path, double timeFactor=1.0) const |
| Set the ODE world to the states that are contained in a given path, sequentially. Using timeFactor, the speed at which this sequence is iterated through is altered. | |
| void | playSolutionPath (double timeFactor=1.0) const |
| Call playPath() on the solution path, if one is available. | |
| void | setAngularVelocityBounds (const base::RealVectorBounds &bounds) |
| Set the bounds for the angular velocity. | |
| void | setCurrentState (const base::State *state) |
| Set the current ODE state (set parameters for ODE bodies). | |
| void | setCurrentState (const base::ScopedState<> &state) |
| Set the current ODE state (set parameters for ODE bodies). | |
| void | setLinearVelocityBounds (const base::RealVectorBounds &bounds) |
| Set the bounds for the linear velocity. | |
| virtual void | setup (void) |
| This method will create the necessary classes for planning. The solve() method will call this function automatically. | |
| void | setVolumeBounds (const base::RealVectorBounds &bounds) |
| Set the bounds for the planning volume. | |
| base::PathPtr | simulate (unsigned int steps) const |
| Simulate the ODE environment forward for steps simulation steps, using the null control (ompl::control::ControlSpace::nullControl()). Construct a path representing this action. | |
| base::PathPtr | simulateControl (const Control *control, unsigned int steps) const |
| Simulate the ODE environment forward for steps simulation steps, using the control control. Construct a path representing this action. | |
| base::PathPtr | simulateControl (const double *control, unsigned int steps) const |
| Simulate the ODE environment forward for steps simulation steps, using the control control. Construct a path representing this action. | |
| virtual | ~ODESimpleSetup (void) |
Private Member Functions | |
| void | useEnvParams (void) |
Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE.
Definition at line 47 of file ODESimpleSetup.h.
| ompl::control::ODESimpleSetup::ODESimpleSetup | ( | const ControlSpacePtr & | space | ) | [explicit] |
Constructor needs the control space needed for planning.
| ompl::control::ODESimpleSetup::ODESimpleSetup | ( | const base::StateSpacePtr & | space | ) | [explicit] |
The control space is assumed to be ODEControlSpace. Constructor only needs the state space.
| ompl::control::ODESimpleSetup::ODESimpleSetup | ( | const ODEEnvironmentPtr & | env | ) | [explicit] |
The control space is assumed to be ODEControlSpace. The state space is assumed to be ODEStateSpace. Constructor only needs the ODE environment.
| virtual ompl::control::ODESimpleSetup::~ODESimpleSetup | ( | void | ) | [inline, virtual] |
Definition at line 61 of file ODESimpleSetup.h.
| base::ScopedState<ODEStateSpace> ompl::control::ODESimpleSetup::getCurrentState | ( | void | ) | const |
Get the current ODE state (read parameters from ODE bodies).
| const ODEEnvironmentPtr& ompl::control::ODESimpleSetup::getEnvironment | ( | void | ) | const [inline] |
Get the ODE environment associated to the state and control spaces.
Definition at line 66 of file ODESimpleSetup.h.
| void ompl::control::ODESimpleSetup::playPath | ( | const base::PathPtr & | path, | |
| double | timeFactor = 1.0 | |||
| ) | const |
Set the ODE world to the states that are contained in a given path, sequentially. Using timeFactor, the speed at which this sequence is iterated through is altered.
| void ompl::control::ODESimpleSetup::playSolutionPath | ( | double | timeFactor = 1.0 |
) | const |
Call playPath() on the solution path, if one is available.
| void ompl::control::ODESimpleSetup::setAngularVelocityBounds | ( | const base::RealVectorBounds & | bounds | ) | [inline] |
Set the bounds for the angular velocity.
Definition at line 93 of file ODESimpleSetup.h.
| void ompl::control::ODESimpleSetup::setCurrentState | ( | const base::State * | state | ) |
Set the current ODE state (set parameters for ODE bodies).
| void ompl::control::ODESimpleSetup::setCurrentState | ( | const base::ScopedState<> & | state | ) |
Set the current ODE state (set parameters for ODE bodies).
| void ompl::control::ODESimpleSetup::setLinearVelocityBounds | ( | const base::RealVectorBounds & | bounds | ) | [inline] |
Set the bounds for the linear velocity.
Definition at line 87 of file ODESimpleSetup.h.
| virtual void ompl::control::ODESimpleSetup::setup | ( | void | ) | [virtual] |
This method will create the necessary classes for planning. The solve() method will call this function automatically.
Reimplemented from ompl::control::SimpleSetup.
| void ompl::control::ODESimpleSetup::setVolumeBounds | ( | const base::RealVectorBounds & | bounds | ) | [inline] |
Set the bounds for the planning volume.
Definition at line 81 of file ODESimpleSetup.h.
| base::PathPtr ompl::control::ODESimpleSetup::simulate | ( | unsigned int | steps | ) | const |
Simulate the ODE environment forward for steps simulation steps, using the null control (ompl::control::ControlSpace::nullControl()). Construct a path representing this action.
| base::PathPtr ompl::control::ODESimpleSetup::simulateControl | ( | const Control * | control, | |
| unsigned int | steps | |||
| ) | const |
Simulate the ODE environment forward for steps simulation steps, using the control control. Construct a path representing this action.
| base::PathPtr ompl::control::ODESimpleSetup::simulateControl | ( | const double * | control, | |
| unsigned int | steps | |||
| ) | const |
Simulate the ODE environment forward for steps simulation steps, using the control control. Construct a path representing this action.
| void ompl::control::ODESimpleSetup::useEnvParams | ( | void | ) | [private] |
