OMPL: ompl::control::PathControl Class Reference

Definition of a control path. More...

Inheritance diagram for ompl::control::PathControl:

Public Member Functions
	PathControl (const base::SpaceInformationPtr &si)
	Constructor.
	PathControl (const PathControl &path)
	Copy constructor.
PathControl &	operator= (const PathControl &other)
	Assignment operator.
virtual double	length (void) const
	The path length (sum of control durations)
virtual bool	check (void) const
	Check if the path is valid.
virtual void	print (std::ostream &out) const
	Print the path to a stream.
void	interpolate (void)
	Make the path such that all controls are applied for a single time step (computes intermediate states)
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.
geometric::PathGeometric	asGeometric (void) const
	Convert this path into a geometric path (interpolation is performed and then states are copied)
Public Attributes
std::vector< base::State * >	states
	The list of states that make up the path.
std::vector< Control * >	controls
	The control applied at each state. This array contains one element less than the list of states.
std::vector< double >	controlDurations
	The duration of the control applied at each state. This array contains one element less than the list of states.
Protected Member Functions
void	freeMemory (void)
	Free the memory allocated by the path.
void	copyFrom (const PathControl &other)
	Copy the content of a path to this one.

Detailed Description

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.

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