LTLWithTriangulation.cpp
74 virtual void sampleFullState(const ob::StateSamplerPtr& sampler, const std::vector<double>& coord, ob::State* s) const
149 void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result)
152 const oc::RealVectorControlSpace::ControlType* rctrl = control->as<oc::RealVectorControlSpace::ControlType>();
virtual void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const
Samples a State using a projected coordinate and a StateSampler.
Definition: PropositionalDecomposition.cpp:50
A planner for generating system trajectories to satisfy a logical specification given by an automaton...
Definition: LTLPlanner.h:58
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::StateSampler.
void setStateValidityChecker(const StateValidityCheckerPtr &svc)
Set the instance of the state validity checker to use. Parallel implementations of planners assume th...
Definition: SpaceInformation.h:150
A boost shared pointer wrapper for ompl::control::PropositionalDecomposition.
CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:549
A ProductGraph represents the weighted, directed, graph-based Cartesian product of a PropositionalDec...
Definition: ProductGraph.h:67
static AutomatonPtr SequenceAutomaton(unsigned int numProps, const std::vector< unsigned int > &seqProps)
Helper function to return a sequence automaton. Assumes all propositions are mutually exclusive...
Definition: Automaton.cpp:226
A boost shared pointer wrapper for ompl::control::ControlSpace.
A boost shared pointer wrapper for ompl::control::LTLSpaceInformation.
bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box.
Definition: SpaceInformation.h:119
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
A control space representing Rn.
Definition: RealVectorControlSpace.h:63
A boost shared pointer wrapper for ompl::control::LTLProblemDefinition.
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects proposi...
Definition: PropositionalTriangularDecomposition.h:58
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef)
Set the problem definition for the planner. The problem needs to be set before calling solve()...
Definition: Planner.cpp:75
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual void project(const base::State *s, std::vector< double > &coord) const
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition...
Definition: PropositionalDecomposition.cpp:35
A boost shared pointer wrapper for ompl::control::ProductGraph.
void setPropagationStepSize(double stepSize)
When controls are applied to states, they are applied for a time duration that is an integer multiple...
Definition: SpaceInformation.h:201
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
A boost shared pointer wrapper for ompl::control::Automaton.
PropositionalTriangularDecomposition(const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &props=std::vector< Polygon >())
Creates a PropositionalTriangularDecomposition over the given bounds, which must be 2-dimensional...
Definition: PropositionalTriangularDecomposition.cpp:77
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition: SO2StateSpace.h:65
void setStatePropagator(const StatePropagatorFn &fn)
Set the function that performs state propagation.
Definition: SpaceInformation.cpp:95
static AutomatonPtr AvoidanceAutomaton(unsigned int numProps, const std::vector< unsigned int > &avoidProps)
Returns an avoidance automaton, which rejects when any one of the given list of propositions becomes ...
Definition: Automaton.cpp:266
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
virtual void enforceBounds(State *state) const
Normalize the value of the state to the interval (-Pi, Pi].
Definition: SO2StateSpace.cpp:83