This namespace contains sampling based planning routines used by planning under differential constraints. More...
Classes | |
| class | CompoundControl |
| Definition of a compound control. More... | |
| class | CompoundControlSampler |
| Definition of a compound control sampler. This is useful to construct samplers for compound controls. More... | |
| class | CompoundControlSpace |
| A control space to allow the composition of control spaces. More... | |
| class | Control |
| Definition of an abstract control. More... | |
| class | ControlSampler |
| Abstract definition of a control sampler. Motion planners that need to sample controls will call functions from this class. Planners should call the versions of sample() and sampleNext() with most arguments, whenever this information is available. More... | |
| class | ControlSamplerPtr |
| A boost shared pointer wrapper for ompl::control::ControlSampler. More... | |
| class | ControlSpace |
| A control space representing the space of applicable controls. More... | |
| class | ControlSpacePtr |
| A boost shared pointer wrapper for ompl::control::ControlSpace. More... | |
| class | KPIECE1 |
| Kinodynamic Planning by Interior-Exterior Cell Exploration. More... | |
| class | ODEControlSpace |
| Representation of controls applied in ODE environments. This is an array of double values. Only forward propagation is possible. More... | |
| class | ODEEnvironment |
| This class contains the ODE constructs OMPL needs to know about when planning. More... | |
| class | ODEEnvironmentPtr |
| A boost shared pointer wrapper for ompl::control::ODEEnvironment. More... | |
| class | ODESimpleSetup |
| Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE. More... | |
| class | ODEStateSpace |
| State space representing ODE states. More... | |
| class | ODEStateValidityChecker |
| The simplest state validity checker: all states are valid. More... | |
| class | PathControl |
| Definition of a control path. More... | |
| class | RealVectorControlSpace |
| A control space representing Rn. The distance function is the L2 norm. More... | |
| class | RealVectorControlUniformSampler |
| Uniform sampler for the Rn state space. More... | |
| class | RRT |
| Rapidly-exploring Random Tree. More... | |
| class | SimpleSetup |
| Create the set of classes typically needed to solve a control problem. More... | |
| class | SpaceInformation |
| Space information containing necessary information for planning with controls. setup() needs to be called before use. More... | |
| class | SpaceInformationPtr |
| A boost shared pointer wrapper for ompl::control::SpaceInformation. More... | |
Typedefs | |
| typedef boost::function1 < ControlSamplerPtr, const ControlSpace * > | ControlSamplerAllocator |
| Definition of a function that can allocate a control sampler. | |
| typedef boost::function4< void, const base::State *, const Control *, const double, base::State * > | StatePropagationFn |
| A function that achieves state propagation. | |
Functions | |
| void | checkProjectionEvaluator (const base::Planner *planner, base::ProjectionEvaluatorPtr &proj) |
| Check if projection evaluator is defined properly. If not, attempt to use default. | |
| ClassForward (ODEEnvironment) | |
| Forward declaration of ompl::control::ODEEnvironment. | |
| ClassForward (SpaceInformation) | |
| Forward declaration of ompl::control::SpaceInformation. | |
| ClassForward (ControlSampler) | |
| Forward declaration of ompl::control::ControlSampler. | |
| ClassForward (ControlSpace) | |
| Forward declaration of ompl::control::ControlSpace. | |
| base::PlannerPtr | getDefaultPlanner (const base::GoalPtr &goal) |
| Given a goal specification, decide on a planner for that goal. | |
This namespace contains sampling based planning routines used by planning under differential constraints.
| typedef boost::function1<ControlSamplerPtr, const ControlSpace*> ompl::control::ControlSamplerAllocator |
Definition of a function that can allocate a control sampler.
Definition at line 175 of file ControlSampler.h.
| typedef boost::function4<void, const base::State*, const Control*, const double, base::State*> ompl::control::StatePropagationFn |
A function that achieves state propagation.
Definition at line 64 of file ControlSpace.h.
| void ompl::control::checkProjectionEvaluator | ( | const base::Planner * | planner, | |
| base::ProjectionEvaluatorPtr & | proj | |||
| ) |
Check if projection evaluator is defined properly. If not, attempt to use default.
| ompl::control::ClassForward | ( | ODEEnvironment | ) |
Forward declaration of ompl::control::ODEEnvironment.
| ompl::control::ClassForward | ( | SpaceInformation | ) |
Forward declaration of ompl::control::SpaceInformation.
| ompl::control::ClassForward | ( | ControlSampler | ) |
Forward declaration of ompl::control::ControlSampler.
| ompl::control::ClassForward | ( | ControlSpace | ) |
Forward declaration of ompl::control::ControlSpace.
| base::PlannerPtr ompl::control::getDefaultPlanner | ( | const base::GoalPtr & | goal | ) |
Given a goal specification, decide on a planner for that goal.
