ompl::base::MorseStateSpace Class Reference

State space representing MORSE states. More...

#include <ompl/extensions/morse/MorseStateSpace.h>

Inheritance diagram for ompl::base::MorseStateSpace:

List of all members.

Classes

class  StateType
 MORSE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...

Public Member Functions

 MorseStateSpace (const MorseEnvironmentPtr &env, double positionWeight=1.0, double linVelWeight=0.5, double angVelWeight=0.5, double orientationWeight=1.0)
 Construct a state space representing MORSE states.
const MorseEnvironmentPtrgetEnvironment () const
 Get the MORSE environment this state space corresponds to.
unsigned int getNrBodies () const
 Get the number of bodies this state space represents.
void setBounds ()
 Set the bounds given by the MorseEnvironment.
void setPositionBounds (const RealVectorBounds &bounds)
 Set the bounds for each of the position subspaces.
void setLinearVelocityBounds (const RealVectorBounds &bounds)
 Set the bounds for each of the linear velocity subspaces.
void setAngularVelocityBounds (const RealVectorBounds &bounds)
 Set the bounds for each of the angular velocity subspaces.
void readState (State *state) const
 Read the parameters of the MORSE bodies and store them in state.
void writeState (const State *state) const
 Set the parameters of the MORSE bodies to be the ones read from state.
bool satisfiesBounds (const State *state) const
 This function checks whether a state satisfies its bounds.
State * allocState () const
 Allocate a state that can store a point in the described space.
void freeState (State *state) const
void copyState (State *destination, const State *source) const
void interpolate (const State *from, const State *to, const double t, State *state) const
StateSamplerPtr allocDefaultStateSampler () const
 Allocate an instance of the default uniform state sampler for this space.
StateSamplerPtr allocStateSampler () const
 Allocate an instance of the state sampler for this space. This sampler will be allocated with the sampler allocator that was previously specified by setStateSamplerAllocator() or, if no sampler allocator was specified, allocDefaultStateSampler() is called.

Protected Attributes

MorseEnvironmentPtr env_
 Representation of the MORSE parameters OMPL needs to plan.

Detailed Description

State space representing MORSE states.

Definition at line 49 of file MorseStateSpace.h.


Constructor & Destructor Documentation

ompl::base::MorseStateSpace::MorseStateSpace ( const MorseEnvironmentPtr env,
double  positionWeight = 1.0,
double  linVelWeight = 0.5,
double  angVelWeight = 0.5,
double  orientationWeight = 1.0 
)

Construct a state space representing MORSE states.

This will be a compound state space with 4 components for each body in env.stateBodies_. The 4 subspaces constructed for each body are: position (R3), linear velocity (R3), angular velocity (R3) and orientation (SO(3)). Default bounds are set by calling setDefaultBounds().

Parameters:
envthe environment to construct the state space for
positionWeightthe weight to pass to CompoundStateSpace::addSubspace() for position subspaces
linVelWeightthe weight to pass to CompoundStateSpace::addSubspace() for linear velocity subspaces
angVelWeightthe weight to pass to CompoundStateSpace::addSubspace() for angular velocity subspaces
orientationWeightthe weight to pass to CompoundStateSpace::addSubspace() for orientation subspaces

Definition at line 44 of file MorseStateSpace.cpp.


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