ompl::control::OpenDESimpleSetup Class Reference

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

#include <ompl/extensions/opende/OpenDESimpleSetup.h>

Inheritance diagram for ompl::control::OpenDESimpleSetup:

List of all members.

Public Member Functions

 OpenDESimpleSetup (const ControlSpacePtr &space)
 Constructor needs the control space needed for planning.
 OpenDESimpleSetup (const base::StateSpacePtr &space)
 The control space is assumed to be OpenDEControlSpace. Constructor only needs the state space.
 OpenDESimpleSetup (const OpenDEEnvironmentPtr &env)
 The control space is assumed to be OpenDEControlSpace. The state space is assumed to be OpenDEStateSpace. Constructor only needs the OpenDE environment.
const OpenDEEnvironmentPtrgetEnvironment () const
 Get the OpenDE environment associated to the state and control spaces.
base::ScopedState
< OpenDEStateSpace
getCurrentState () const
 Get the current OpenDE state (read parameters from OpenDE bodies)
void setCurrentState (const base::ScopedState<> &state)
 Set the current OpenDE state (set parameters for OpenDE bodies)
void setCurrentState (const base::State *state)
 Set the current OpenDE state (set parameters for OpenDE 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 OpenDE 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 OpenDE 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 OpenDE 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 OpenDE environment forward for steps simulation steps, using the null control (ompl::control::ControlSpace::nullControl()). Construct a path representing this action.
virtual void setup ()
 This method will create the necessary classes for planning. The solve() method will call this function automatically.

Detailed Description

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

Definition at line 53 of file OpenDESimpleSetup.h.


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