MorseSimpleSetup.h
const base::MorseEnvironmentPtr env_
Pointer to the environment representing the MORSE simulation.
Definition: MorseSimpleSetup.h:57
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:64
MorseSimpleSetup(const base::MorseEnvironmentPtr &env)
The control space is assumed to be MorseControlSpace. The state space is assumed to be MorseStateSpac...
Definition: MorseSimpleSetup.cpp:45
base::PlannerStatus solve()
Run the planner until solution is found or user shuts down MORSE.
Definition: MorseSimpleSetup.cpp:92
void playSolutionPath() const
Call playPath() on the solution path, if one is available.
Definition: MorseSimpleSetup.cpp:99
base::PathPtr simulateControl(const double *control, unsigned int steps) const
Simulate the MORSE environment forward for steps simulation steps, using the control control...
Definition: MorseSimpleSetup.cpp:136
base::ScopedState< base::MorseStateSpace > getCurrentState() const
Get the current MORSE state (read parameters from MORSE bodies)
Definition: MorseSimpleSetup.cpp:54
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
void playPath(const base::PathPtr &path) const
Set the MORSE world to the states that are contained in a given path, sequentially.
Definition: MorseSimpleSetup.cpp:105
void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: MorseSimpleSetup.cpp:71
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment associated with this setup.
Definition: MorseSimpleSetup.h:70
Create the set of classes typically needed to solve a control problem when forward propagation is com...
Definition: MorseSimpleSetup.h:52
base::PathPtr simulate(unsigned int steps) const
Simulate the MORSE environment forward for steps simulation steps, using the null control (ompl::cont...
Definition: MorseSimpleSetup.cpp:162
A boost shared pointer wrapper for ompl::base::MorseEnvironment.
A boost shared pointer wrapper for ompl::base::Path.
void setCurrentState(const base::ScopedState<> &state)
Set the current MORSE state (set parameters for MORSE bodies)
Definition: MorseSimpleSetup.cpp:66