ompl::control::MorseSimpleSetup Class Reference

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

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

Inheritance diagram for ompl::control::MorseSimpleSetup:

List of all members.

Public Member Functions

 MorseSimpleSetup (const base::MorseEnvironmentPtr &env)
 The control space is assumed to be MorseControlSpace. The state space is assumed to be MorseStateSpace. Constructor only needs the MORSE environment.
const base::MorseEnvironmentPtrgetEnvironment () const
 Get the MORSE environment associated with this setup.
base::ScopedState
< base::MorseStateSpace
getCurrentState () const
 Get the current MORSE state (read parameters from MORSE bodies)
void setCurrentState (const base::ScopedState<> &state)
 Set the current MORSE state (set parameters for MORSE bodies)
void setCurrentState (const base::State *state)
 Set the current MORSE state (set parameters for MORSE bodies)
void setup ()
 This method will create the necessary classes for planning. The solve() method will call this function automatically.
base::PlannerStatus solve ()
 Run the planner until solution is found or user shuts down MORSE.
void playPath (const base::PathPtr &path) const
 Set the MORSE world to the states that are contained in a given path, sequentially.
void playSolutionPath () const
 Call playPath() on the solution path, if one is available.
base::PathPtr simulateControl (const double *control, unsigned int steps) const
 Simulate the MORSE 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 MORSE 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 MORSE environment forward for steps simulation steps, using the null control (ompl::control::ControlSpace::nullControl()). Construct a path representing this action.

Public Attributes

const base::MorseEnvironmentPtr env_
 Pointer to the environment representing the MORSE simulation.

Detailed Description

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

Definition at line 52 of file MorseSimpleSetup.h.


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