Class PathControl

Inheritance Relationships

class PathControl : public ompl::base::Path 

Definition of a control path.

This is the type of path produced when planning with differential constraints.

Path operations

void append(const base::State *state): Append state to the end of the path; it is assumed state is the first state, so no control is applied. The memory for state is copied. There are no checks to make sure the number of controls and states make sense.

void append(const base::State *state, const Control *control, double duration): Append state to the end of the path and assume control is applied for the duration duration. The memory for state and for control is copied. There are no checks to make sure the number of controls and states make sense.

void interpolate(): Make the path such that all controls are applied for a single time step (computes intermediate states)

bool randomValid(unsigned int attempts): Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success.

Functionality for accessing states and controls

inline std::vector<base::State*> &getStates(): Get the states that make up the path (as a reference, so it can be modified, hence the function is not const)

inline std::vector<Control*> &getControls(): Get the controls that make up the path (as a reference, so it can be modified, hence the function is not const)

inline std::vector<double> &getControlDurations(): Get the control durations used along the path (as a reference, so it can be modified, hence the function is not const)

inline base::State *getState(unsigned int index): Get the state located at index along the path.

inline const base::State *getState(unsigned int index) const: Get the state located at index along the path.

inline Control *getControl(unsigned int index): Get the control located at index along the path. This is the control that gets applied to the state located at index.

inline const Control *getControl(unsigned int index) const: Get the control located at index along the path. This is the control that gets applied to the state located at index.

inline double getControlDuration(unsigned int index) const: Get the duration of the control at index, which gets applied to the state at index.

inline std::size_t getStateCount() const: Get the number of states (way-points) that make up this path.

inline std::size_t getControlCount() const: Get the number of controls applied along this path. This should be equal to getStateCount() - 1 unless there are 0 states, in which case the number of controls will also be 0.

Public Functions

base::Cost cost(const base::OptimizationObjectivePtr &opt) const override: Not yet implemented.

virtual double length() const override: The path length (sum of control durations)

virtual void print(std::ostream &out) const override: Print the path to a stream.

virtual void printAsMatrix(std::ostream &out) const: Print the path as a real-valued matrix where the i-th row represents the i-th state along the path, followed by the control and duration needed to reach this state. For the first state the control and duration are zeroes. The state components printed are those returned by ompl::base::StateSpace::copyToReals, while the control components printed are the discrete components (if any) followed by the real-valued ones as returned by ompl::control::ControlSpace::getValueAddressAtIndex.

geometric::PathGeometric asGeometric() const: Convert this path into a geometric path (interpolation is performed and then states are copied)

Protected Functions

void copyFrom(const PathControl &other): Copy the content of a path to this one.

Protected Attributes

std::vector<base::State*> states_: The list of states that make up the path.

std::vector<Control*> controls_: The control applied at each state. This array contains one element less than the list of states.

std::vector<double> controlDurations_: The duration of the control applied at each state. This array contains one element less than the list of states.