Representation of controls applied in ODE environments. This is an array of double values. Only forward propagation is possible. More...
#include <ODEControlSpace.h>
Public Member Functions | |
| virtual bool | canPropagateBackward (void) const |
| Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default). | |
| const ODEEnvironmentPtr & | getEnvironment (void) const |
| Get the ODE environment this state space corresponds to. | |
| ODEControlSpace (const base::StateSpacePtr &stateSpace) | |
| Construct a representation of controls passed to ODE. If stateSpace does not cast to an ODEStateSpace, an exception is thrown. | |
| virtual void | propagate (const base::State *state, const Control *control, const double duration, base::State *result) const |
| Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true). | |
| virtual | ~ODEControlSpace (void) |
Representation of controls applied in ODE environments. This is an array of double values. Only forward propagation is possible.
At every propagation step, controls are applied using ODEEnvironment::applyControl(), contacts are computed by calling dSpaceCollide() on the spaces in ODEEnvironment::collisionSpaces_ and then dWorldQuickStep() is called. If the state argument of propagate() does not have its ODEStateSpace::StateType::collision field set, it is set based on the information returned by contact computation. Certain collisions (contacts) are allowed, as indicated by ODEEnvironment::isValidCollision().
Definition at line 58 of file ODEControlSpace.h.
| ompl::control::ODEControlSpace::ODEControlSpace | ( | const base::StateSpacePtr & | stateSpace | ) |
Construct a representation of controls passed to ODE. If stateSpace does not cast to an ODEStateSpace, an exception is thrown.
| virtual ompl::control::ODEControlSpace::~ODEControlSpace | ( | void | ) | [inline, virtual] |
Definition at line 50 of file ODEControlSpace.h.
| virtual bool ompl::control::ODEControlSpace::canPropagateBackward | ( | void | ) | const [inline, virtual] |
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).
Reimplemented from ompl::control::ControlSpace.
Definition at line 60 of file ODEControlSpace.h.
| const ODEEnvironmentPtr& ompl::control::ODEControlSpace::getEnvironment | ( | void | ) | const [inline] |
Get the ODE environment this state space corresponds to.
Definition at line 55 of file ODEControlSpace.h.
| virtual void ompl::control::ODEControlSpace::propagate | ( | const base::State * | state, | |
| const Control * | control, | |||
| const double | duration, | |||
| base::State * | result | |||
| ) | const [virtual] |
Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true).
| state | the state to start propagating from | |
| control | the control to apply | |
| duration | the duration for which the control is applied | |
| result | the state the system is brought to |
Reimplemented from ompl::control::ControlSpace.
