ompl::control::ODEBasicSolver< Solver > Class Template Reference

Basic solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fourth order Runge-Kutta method. This class wraps around the simple stepper concept from boost::numeric::odeint. More...

#include <ompl/control/ODESolver.h>

Inheritance diagram for ompl::control::ODEBasicSolver< Solver >:

List of all members.

Public Member Functions

 ODEBasicSolver (const SpaceInformationPtr &si, const ODESolver::ODE &ode, double intStep=1e-2)
 Parameterized constructor. Takes a reference to the SpaceInformation, an ODE to solve, and an optional integration step size - default is 0.01.

Protected Member Functions

virtual void solve (StateType &state, const Control *control, const double duration) const
 Solve the ODE using boost::numeric::odeint.

Detailed Description

template<class Solver = odeint::runge_kutta4<ODESolver::StateType>>
class ompl::control::ODEBasicSolver< Solver >

Basic solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fourth order Runge-Kutta method. This class wraps around the simple stepper concept from boost::numeric::odeint.

Definition at line 198 of file ODESolver.h.


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