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>
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. |
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.
ompl::control::ODEStateSpace::StateType::StateType | ( | void | ) | [inline] |
Definition at line 71 of file ODEStateSpace.h.
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.
int ompl::control::ODEStateSpace::StateType::collision [mutable] |
Flag containing information about state validity.
Definition at line 129 of file ODEStateSpace.h.