OpenDEStatePropagator.cpp
43 ompl::control::OpenDEStatePropagator::OpenDEStatePropagator(const SpaceInformationPtr &si) : StatePropagator(si)
100 void ompl::control::OpenDEStatePropagator::propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
127 if (!(state->as<OpenDEStateSpace::StateType>()->collision & (1 << OpenDEStateSpace::STATE_COLLISION_KNOWN_BIT)))
130 state->as<OpenDEStateSpace::StateType>()->collision &= (1 << OpenDEStateSpace::STATE_COLLISION_VALUE_BIT);
131 state->as<OpenDEStateSpace::StateType>()->collision &= (1 << OpenDEStateSpace::STATE_COLLISION_KNOWN_BIT);
Index of bit in StateType::collision indicating whether it is known if a state is in collision or not...
Definition: OpenDEStateSpace.h:58
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition: SpaceInformation.h:104
SpaceInformation * si_
The instance of space information this state propagator operates on.
Definition: StatePropagator.h:126
Index of bit in StateType::collision indicating whether a state is in collision or not...
Definition: OpenDEStateSpace.h:60
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state s...
Definition: OpenDEStateSpace.h:68
Model the effect of controls on system states.
Definition: StatePropagator.h:62
virtual bool canPropagateBackward() const
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
Definition: OpenDEStatePropagator.cpp:135
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
The definition of a control in Rn
Definition: RealVectorControlSpace.h:68
A boost shared pointer wrapper for ompl::control::SpaceInformation.
OpenDEStatePropagator(const SpaceInformationPtr &si)
Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an Ope...
Definition: OpenDEStatePropagator.cpp:43
OpenDEEnvironmentPtr env_
The OpenDE environment this state propagator operates on.
Definition: OpenDEStatePropagator.h:88
virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
Definition: OpenDEStatePropagator.cpp:100
double * values
An array of length n, representing the value of the control.
Definition: RealVectorControlSpace.h:87