ompl::control::ODESimpleSetup Class Reference

Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE. More...

#include <ODESimpleSetup.h>

Inheritance diagram for ompl::control::ODESimpleSetup:

List of all members.

Public Member Functions
	ODESimpleSetup (const ControlSpacePtr &space)
	Constructor needs the control space needed for planning.
	ODESimpleSetup (const base::StateSpacePtr &space)
	The control space is assumed to be ODEControlSpace. Constructor only needs the state space.
	ODESimpleSetup (const ODEEnvironmentPtr &env)
	The control space is assumed to be ODEControlSpace. The state space is assumed to be ODEStateSpace. Constructor only needs the ODE environment.
const ODEEnvironmentPtr &	getEnvironment (void) const
	Get the ODE environment associated to the state and control spaces.
base::ScopedState< ODEStateSpace >	getCurrentState (void) const
	Get the current ODE state (read parameters from ODE bodies)
void	setCurrentState (const base::ScopedState<> &state)
	Set the current ODE state (set parameters for ODE bodies)
void	setCurrentState (const base::State *state)
	Set the current ODE state (set parameters for ODE bodies)
void	setVolumeBounds (const base::RealVectorBounds &bounds)
	Set the bounds for the planning volume.
void	setLinearVelocityBounds (const base::RealVectorBounds &bounds)
	Set the bounds for the linear velocity.
void	setAngularVelocityBounds (const base::RealVectorBounds &bounds)
	Set the bounds for the angular velocity.
void	playPath (const base::PathPtr &path, double timeFactor=1.0) const
	Set the ODE world to the states that are contained in a given path, sequentially. Using timeFactor, the speed at which this sequence is iterated through is altered.
void	playSolutionPath (double timeFactor=1.0) const
	Call playPath() on the solution path, if one is available.
base::PathPtr	simulateControl (const double *control, unsigned int steps) const
	Simulate the ODE environment forward for steps simulation steps, using the control control. Construct a path representing this action.
base::PathPtr	simulateControl (const Control *control, unsigned int steps) const
	Simulate the ODE environment forward for steps simulation steps, using the control control. Construct a path representing this action.
base::PathPtr	simulate (unsigned int steps) const
	Simulate the ODE environment forward for steps simulation steps, using the null control (ompl::control::ControlSpace::nullControl()). Construct a path representing this action.
virtual void	setup (void)
	This method will create the necessary classes for planning. The solve() method will call this function automatically.

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Detailed Description

Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE.

Definition at line 53 of file ODESimpleSetup.h.

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

• src/ompl/extensions/ode/ODESimpleSetup.h
• src/ompl/extensions/ode/src/ODESimpleSetup.cpp