37 #ifndef OMPL_EXTENSION_OPENDE_SIMPLE_SETUP_
38 #define OMPL_EXTENSION_OPENDE_SIMPLE_SETUP_
40 #include "ompl/control/SimpleSetup.h"
41 #include "ompl/extensions/opende/OpenDEStateValidityChecker.h"
42 #include "ompl/extensions/opende/OpenDEStatePropagator.h"
43 #include "ompl/extensions/opende/OpenDEControlSpace.h"
132 virtual void setup(
void);
136 void useEnvParams(
void);
Create the set of classes typically needed to solve a control problem when forward propagation is com...
Definition of a scoped state.
Definition of an abstract control.
A boost shared pointer wrapper for ompl::base::StateSpace.
void setAngularVelocityBounds(const base::RealVectorBounds &bounds)
Set the bounds for the angular velocity.
Create the set of classes typically needed to solve a control problem.
const base::StateSpacePtr & getStateSpace(void) const
Get the current instance of the state space.
void playSolutionPath(double timeFactor=1.0) const
Call playPath() on the solution path, if one is available.
A boost shared pointer wrapper for ompl::control::ControlSpace.
base::PathPtr simulate(unsigned int steps) const
Simulate the OpenDE environment forward for steps simulation steps, using the null control (ompl::con...
State space representing OpenDE states.
virtual void setup(void)
This method will create the necessary classes for planning. The solve() method will call this functio...
base::PathPtr simulateControl(const double *control, unsigned int steps) const
Simulate the OpenDE environment forward for steps simulation steps, using the control control...
OpenDESimpleSetup(const ControlSpacePtr &space)
Constructor needs the control space needed for planning.
Definition of an abstract state.
void setVolumeBounds(const base::RealVectorBounds &bounds)
Set the bounds for the planning volume.
void setCurrentState(const base::ScopedState<> &state)
Set the current OpenDE state (set parameters for OpenDE bodies)
The lower and upper bounds for an Rn space.
base::ScopedState< OpenDEStateSpace > getCurrentState(void) const
Get the current OpenDE state (read parameters from OpenDE bodies)
const OpenDEEnvironmentPtr & getEnvironment(void) const
Get the OpenDE environment associated to the state and control spaces.
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.
A boost shared pointer wrapper for ompl::base::Path.
A boost shared pointer wrapper for ompl::control::OpenDEEnvironment.
void setLinearVelocityBounds(const base::RealVectorBounds &bounds)
Set the bounds for the linear velocity.