ompl::control::ODEStateSpace::StateType Class Reference

ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...

#include <ODEStateSpace.h>

Inheritance diagram for ompl::control::ODEStateSpace::StateType:

[legend]

List of all members.

Public Member Functions
double *	getBodyAngularVelocity (unsigned int body)
	Get the angular velocity (x, y, z) of the body at index body.
const double *	getBodyAngularVelocity (unsigned int body) const
	Get the angular velocity (x, y, z) of the body at index body.
double *	getBodyLinearVelocity (unsigned int body)
	Get the linear velocity (x, y, z) of the body at index body.
const double *	getBodyLinearVelocity (unsigned int body) const
	Get the linear velocity (x, y, z) of the body at index body.
double *	getBodyPosition (unsigned int body)
	Get the position (x, y, z) of the body at index body.
const double *	getBodyPosition (unsigned int body) const
	Get the position (x, y, z) of the body at index body.
base::SO3StateSpace::StateType &	getBodyRotation (unsigned int body)
	Get the quaternion of the body at index body.
const base::SO3StateSpace::StateType &	getBodyRotation (unsigned int body) const
	Get the quaternion of the body at index body.
	StateType (void)
Public Attributes
int	collision
	Flag containing information about state validity.

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Detailed Description

ODE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for.

Definition at line 68 of file ODEStateSpace.h.

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Constructor & Destructor Documentation

ompl::control::ODEStateSpace::StateType::StateType

(

void

)

[inline]

Definition at line 71 of file ODEStateSpace.h.

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Member Function Documentation

double* ompl::control::ODEStateSpace::StateType::getBodyAngularVelocity

(

unsigned int

body

)

[inline]

Get the angular velocity (x, y, z) of the body at index body.

Definition at line 118 of file ODEStateSpace.h.

const double* ompl::control::ODEStateSpace::StateType::getBodyAngularVelocity

(

unsigned int

body

)

const [inline]

Get the angular velocity (x, y, z) of the body at index body.

Definition at line 112 of file ODEStateSpace.h.

double* ompl::control::ODEStateSpace::StateType::getBodyLinearVelocity

(

unsigned int

body

)

[inline]

Get the linear velocity (x, y, z) of the body at index body.

Definition at line 106 of file ODEStateSpace.h.

const double* ompl::control::ODEStateSpace::StateType::getBodyLinearVelocity

(

unsigned int

body

)

const [inline]

Get the linear velocity (x, y, z) of the body at index body.

Definition at line 100 of file ODEStateSpace.h.

double* ompl::control::ODEStateSpace::StateType::getBodyPosition

(

unsigned int

body

)

[inline]

Get the position (x, y, z) of the body at index body.

Definition at line 82 of file ODEStateSpace.h.

const double* ompl::control::ODEStateSpace::StateType::getBodyPosition

(

unsigned int

body

)

const [inline]

Get the position (x, y, z) of the body at index body.

Definition at line 76 of file ODEStateSpace.h.

base::SO3StateSpace::StateType& ompl::control::ODEStateSpace::StateType::getBodyRotation

(

unsigned int

body

)

[inline]

Get the quaternion of the body at index body.

Definition at line 94 of file ODEStateSpace.h.

const base::SO3StateSpace::StateType& ompl::control::ODEStateSpace::StateType::getBodyRotation

(

unsigned int

body

)

const [inline]

Get the quaternion of the body at index body.

Definition at line 88 of file ODEStateSpace.h.

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Member Data Documentation

int ompl::control::ODEStateSpace::StateType::collision [mutable]

Flag containing information about state validity.

• BIT 0: (ODEStateSpace::STATE_COLLISION_KNOWN_BIT)
• BIT 1: (ODEStateSpace::STATE_COLLISION_VALUE_BIT)
• BIT 2: (ODEStateSpace::STATE_VALIDITY_KNOWN_BIT)
• BIT 3: (ODEStateSpace::STATE_VALIDITY_VALUE_BIT)

Definition at line 129 of file ODEStateSpace.h.

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The documentation for this class was generated from the following file:

• ODEStateSpace.h