Definition of a control path. More...
#include <PathControl.h>
Public Member Functions | |
| geometric::PathGeometric | asGeometric (void) const |
| Convert this path into a geometric path (interpolation is performed and then states are copied). | |
| virtual bool | check (void) const |
| Check if the path is valid. | |
| void | interpolate (void) |
| Make the path such that all controls are applied for a single time step (computes intermediate states). | |
| virtual double | length (void) const |
| The path length (sum of control durations). | |
| PathControl & | operator= (const PathControl &other) |
| Assignment operator. | |
| PathControl (const PathControl &path) | |
| Copy constructor. | |
| PathControl (const base::SpaceInformationPtr &si) | |
| Constructor. | |
| virtual void | print (std::ostream &out) const |
| Print the path to a stream. | |
| void | random (void) |
| Set this path to a random segment. | |
| bool | randomValid (unsigned int attempts) |
| Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success. | |
| virtual | ~PathControl (void) |
Public Attributes | |
| std::vector< double > | controlDurations |
| The duration of the control applied at each state. This array contains one element less than the list of states. | |
| std::vector< Control * > | controls |
| The control applied at each state. This array contains one element less than the list of states. | |
| std::vector< base::State * > | states |
| The list of states that make up the path. | |
Protected Member Functions | |
| void | copyFrom (const PathControl &other) |
| Copy the content of a path to this one. | |
| void | freeMemory (void) |
| Free the memory allocated by the path. | |
Definition of a control path.
This is the type of path produced when planning with differential constraints.
Definition at line 54 of file PathControl.h.
| ompl::control::PathControl::PathControl | ( | const base::SpaceInformationPtr & | si | ) |
Constructor.
| ompl::control::PathControl::PathControl | ( | const PathControl & | path | ) |
Copy constructor.
| virtual ompl::control::PathControl::~PathControl | ( | void | ) | [inline, virtual] |
Definition at line 64 of file PathControl.h.
| geometric::PathGeometric ompl::control::PathControl::asGeometric | ( | void | ) | const |
Convert this path into a geometric path (interpolation is performed and then states are copied).
| virtual bool ompl::control::PathControl::check | ( | void | ) | const [virtual] |
Check if the path is valid.
Implements ompl::base::Path.
| void ompl::control::PathControl::copyFrom | ( | const PathControl & | other | ) | [protected] |
Copy the content of a path to this one.
| void ompl::control::PathControl::freeMemory | ( | void | ) | [protected] |
Free the memory allocated by the path.
| void ompl::control::PathControl::interpolate | ( | void | ) |
Make the path such that all controls are applied for a single time step (computes intermediate states).
| virtual double ompl::control::PathControl::length | ( | void | ) | const [virtual] |
The path length (sum of control durations).
Implements ompl::base::Path.
| PathControl& ompl::control::PathControl::operator= | ( | const PathControl & | other | ) |
Assignment operator.
| virtual void ompl::control::PathControl::print | ( | std::ostream & | out | ) | const [virtual] |
Print the path to a stream.
Implements ompl::base::Path.
| void ompl::control::PathControl::random | ( | void | ) |
Set this path to a random segment.
| bool ompl::control::PathControl::randomValid | ( | unsigned int | attempts | ) |
Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success.
| std::vector<double> ompl::control::PathControl::controlDurations |
The duration of the control applied at each state. This array contains one element less than the list of states.
Definition at line 100 of file PathControl.h.
| std::vector<Control*> ompl::control::PathControl::controls |
The control applied at each state. This array contains one element less than the list of states.
Definition at line 97 of file PathControl.h.
| std::vector<base::State*> ompl::control::PathControl::states |
The list of states that make up the path.
Definition at line 94 of file PathControl.h.
