KoulesSetup.cpp
56 KoulesStateValidityChecker(const ompl::base::SpaceInformationPtr &si) : ompl::base::StateValidityChecker(si)
70 return ompl::control::DirectedControlSamplerPtr(new KoulesDirectedControlSampler(si, goal, propagateMax));
81 KoulesSetup::KoulesSetup(unsigned int numKoules, const std::string& plannerName, double kouleVel)
85 double* state = getProblemDefinition()->getStartState(0)->as<KoulesStateSpace::StateType>()->values;
Definition: KoulesGoal.h:43
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.
A boost shared pointer wrapper for ompl::base::StateValidityChecker.
Definition: KoulesControlSpace.h:68
Definition: KoulesStatePropagator.h:45
A boost shared pointer wrapper for ompl::base::Planner.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
A boost shared pointer wrapper for ompl::control::DirectedControlSampler.
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition: StateValidityChecker.h:93
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:68
A boost shared pointer wrapper for ompl::base::SpaceInformation.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
Kinodynamic Planning by Interior-Exterior Cell Exploration.
Definition: KPIECE1.h:77
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().
A boost shared pointer wrapper for ompl::base::Goal.
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69