ODESimpleSetup.h

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/* Author: Ioan Sucan */

#ifndef OMPL_EXTENSION_ODE_SIMPLE_SETUP_
#define OMPL_EXTENSION_ODE_SIMPLE_SETUP_

#include "ompl/control/SimpleSetup.h"
#include "ompl/extensions/ode/ODEStateValidityChecker.h"
#include "ompl/extensions/ode/ODEControlSpace.h"

namespace ompl
{

    namespace control
    {

        class ODESimpleSetup : public SimpleSetup
        {
        public:

            explicit
            ODESimpleSetup(const ControlSpacePtr &space);

            explicit
            ODESimpleSetup(const base::StateSpacePtr &space);

            explicit
            ODESimpleSetup(const ODEEnvironmentPtr &env);

            virtual ~ODESimpleSetup(void)
            {
            }

            const ODEEnvironmentPtr& getEnvironment(void) const
            {
                return getStateSpace()->as<ODEStateSpace>()->getEnvironment();
            }

            base::ScopedState<ODEStateSpace> getCurrentState(void) const;

            void setCurrentState(const base::ScopedState<> &state);

            void setCurrentState(const base::State *state);

            void setVolumeBounds(const base::RealVectorBounds &bounds)
            {
                getStateSpace()->as<ODEStateSpace>()->setVolumeBounds(bounds);
            }

            void setLinearVelocityBounds(const base::RealVectorBounds &bounds)
            {
                getStateSpace()->as<ODEStateSpace>()->setLinearVelocityBounds(bounds);
            }

            void setAngularVelocityBounds(const base::RealVectorBounds &bounds)
            {
                getStateSpace()->as<ODEStateSpace>()->setAngularVelocityBounds(bounds);
            }

            void playPath(const base::PathPtr &path, double timeFactor = 1.0) const;

            void playSolutionPath(double timeFactor = 1.0) const;

            base::PathPtr simulateControl(const double* control, unsigned int steps) const;

            base::PathPtr simulateControl(const Control* control, unsigned int steps) const;

            base::PathPtr simulate(unsigned int steps) const;

            virtual void setup(void);

        private:

            void useEnvParams(void);

        };
    }

}
#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013