OpenDESimpleSetup.h
void setup() override
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: OpenDESimpleSetup.cpp:84
void setCurrentState(const base::ScopedState<> &state)
Set the current OpenDE state (set parameters for OpenDE bodies)
Definition: OpenDESimpleSetup.cpp:79
base::ScopedState< OpenDEStateSpace > getCurrentState() const
Get the current OpenDE state (read parameters from OpenDE bodies)
Definition: OpenDESimpleSetup.cpp:67
A shared pointer wrapper for ompl::control::ControlSpace.
void setVolumeBounds(const base::RealVectorBounds &bounds)
Set the bounds for the planning volume.
Definition: OpenDESimpleSetup.h:176
base::PathPtr simulate(unsigned int steps) const
Simulate the OpenDE environment forward for steps simulation steps, using the null control (ompl::con...
Definition: OpenDESimpleSetup.cpp:157
A shared pointer wrapper for ompl::control::OpenDEEnvironment.
OpenDESimpleSetup(const ControlSpacePtr &space)
Constructor needs the control space needed for planning.
Definition: OpenDESimpleSetup.cpp:40
void playSolutionPath(double timeFactor=1.0) const
Call playPath() on the solution path, if one is available.
Definition: OpenDESimpleSetup.cpp:99
base::PathPtr simulateControl(const double *control, unsigned int steps) const
Simulate the OpenDE environment forward for steps simulation steps, using the control control....
Definition: OpenDESimpleSetup.cpp:130
void setAngularVelocityBounds(const base::RealVectorBounds &bounds)
Set the bounds for the angular velocity.
Definition: OpenDESimpleSetup.h:188
const OpenDEEnvironmentPtr & getEnvironment() const
Get the OpenDE environment associated to the state and control spaces.
Definition: OpenDESimpleSetup.h:161
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....
Definition: OpenDESimpleSetup.cpp:105
void setLinearVelocityBounds(const base::RealVectorBounds &bounds)
Set the bounds for the linear velocity.
Definition: OpenDESimpleSetup.h:182
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:154