Template Class ODEBasicSolver

Defined in File ODESolver.h

Inheritance Relationships

Base Type

public ompl::control::ODESolver (Class ODESolver)

Class Documentation

template<class Solver = odeint::runge_kutta4<ODESolver::StateType>> class ODEBasicSolver : public ompl::control::ODESolver 

Basic solver for ordinary differential equations of the type q’ = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fourth order Runge-Kutta method. This class wraps around the simple stepper concept from boost::numeric::odeint.

Public Functions

inline ODEBasicSolver(const SpaceInformationPtr &si, const ODESolver::ODE &ode, double intStep = 1e-2): Parameterized constructor. Takes a reference to the SpaceInformation, an ODE to solve, and an optional integration step size - default is 0.01.

Protected Functions

inline virtual void solve(StateType &state, const Control *control, double duration) const override: Solve the ODE using boost::numeric::odeint.