RigidBodyPlanningWithIntegrationAndControls.cpp File Reference

#include <ompl/control/SpaceInformation.h>
#include <ompl/base/GoalState.h>
#include <ompl/base/spaces/SE2StateSpace.h>
#include <ompl/control/spaces/RealVectorControlSpace.h>
#include <ompl/control/planners/kpiece/KPIECE1.h>
#include <ompl/control/planners/rrt/RRT.h>
#include <ompl/control/SimpleSetup.h>
#include <ompl/config.h>
#include <iostream>
#include <valarray>
#include <limits>

Include dependency graph for RigidBodyPlanningWithIntegrationAndControls.cpp:

Go to the source code of this file.

Classes
class	EulerIntegrator< F >
	Simple integrator: Euclidean method. More...
class	KinematicCarModel
	Model defining the motion of the robot. More...
Functions
bool	isStateValid (const oc::SpaceInformation *si, const ob::State *state)
int	main (int, char **)
void	planWithSimpleSetup (void)

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Function Documentation

bool isStateValid	(	const oc::SpaceInformation *	si,
		const ob::State *	state
	)

cast the abstract state type to the type we expect

extract the first component of the state and cast it to what we expect

extract the second component of the state and cast it to what we expect

check validity of state defined by pos & rot

Definition at line 138 of file RigidBodyPlanningWithIntegrationAndControls.cpp.

int main	(	int	,
		char **
	)

Definition at line 248 of file RigidBodyPlanningWithIntegrationAndControls.cpp.

void planWithSimpleSetup

(

void

)

construct the state space we are planning in

set the bounds for the R^2 part of SE(2)

set state validity checking for this space

create a start state

create a goal state; use the hard way to set the elements

set the start and goal states

we want to have a reasonable value for the propagation step size

attempt to solve the problem within one second of planning time

print the path to screen

Definition at line 187 of file RigidBodyPlanningWithIntegrationAndControls.cpp.