OpenDERigidBodyPlanning.cpp
91 virtual bool isValidCollision(dGeomID /*geom1*/, dGeomID /*geom2*/, const dContact& /*contact*/) const
192 // Define our own space, to include a distance function we want and register a default projection
213 registerDefaultProjection(ob::ProjectionEvaluatorPtr(new RigidBodyStateProjectionEvaluator(this)));
232 // this will take care of setting a proper collision checker and the starting state for the planner as the initial OpenDE state
Create the set of classes typically needed to solve a control problem when forward propagation is com...
Definition: OpenDESimpleSetup.h:53
virtual void applyControl(const double *control) const =0
Application of a control. This function sets the forces/torques/velocities for bodies in the simulati...
virtual unsigned int getDimension() const =0
Return the dimension of the projection defined by this evaluator.
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
A boost shared pointer wrapper for ompl::base::StateSpace.
virtual double distanceGoal(const State *st) const =0
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:549
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
Definition: StateSpace.cpp:227
virtual void getControlBounds(std::vector< double > &lower, std::vector< double > &upper) const =0
Get the control bounds – the bounding box in which to sample controls.
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition: StateSpace.cpp:737
virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const
Parameters to set when contacts are created between geom1 and geom2.
Definition: OpenDEEnvironment.cpp:50
This class contains the OpenDE constructs OMPL needs to know about when planning. ...
Definition: OpenDEEnvironment.h:67
State space representing OpenDE states.
Definition: OpenDEStateSpace.h:51
virtual void defaultCellSizes()
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: ProjectionEvaluator.cpp:212
virtual unsigned int getControlDimension() const =0
Number of parameters (double values) needed to specify a control input.
virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact &contact) const
Decide whether a collision is a valid one or not. In some cases, collisions between some bodies can b...
Definition: OpenDEEnvironment.cpp:45
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:62
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition: StateSpace.cpp:1052
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
virtual void project(const State *state, EuclideanProjection &projection) const =0
Compute the projection as an array of double values.
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
A boost shared pointer wrapper for ompl::base::Goal.
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:48
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:138
A boost shared pointer wrapper for ompl::control::OpenDEEnvironment.