This class contains the MORSE constructs OMPL needs to know about when planning. More...
#include <ompl/extensions/morse/MorseEnvironment.h>
Public Member Functions | |
MorseEnvironment (const unsigned int controlDim, const std::vector< double > &controlBounds, const unsigned int rigidBodies, const std::vector< double > &positionBounds, const std::vector< double > &linvelBounds, const std::vector< double > &angvelBounds, const double stepSize, const unsigned int minControlSteps, const unsigned int maxControlSteps) | |
void | getControlBounds (std::vector< double > &lower, std::vector< double > &upper) const |
Get the control bounds – the bounding box in which to sample controls. | |
virtual void | readState (State *state)=0 |
Query the internal state of the simulation. | |
virtual void | writeState (const State *state)=0 |
Overwrite the internal state of the simulation. | |
virtual void | applyControl (const std::vector< double > &control)=0 |
Configure simulation to proceed under a new control. | |
virtual void | worldStep (const double dur)=0 |
Proceed with the simulation for the given number of seconds. | |
Public Attributes | |
const unsigned int | controlDim_ |
The dimension of the control space for this simulation. | |
const std::vector< double > | controlBounds_ |
Upper and lower bounds for each control dimension. | |
const unsigned int | rigidBodies_ |
The number of rigid bodies in the simulation. | |
std::vector< double > | positionBounds_ |
Upper and lower bounds on position in each spatial dimension. | |
std::vector< double > | linvelBounds_ |
Upper and lower bounds on linear velocity in each spatial dimension. | |
std::vector< double > | angvelBounds_ |
Upper and lower bounds on angular velocity in each spatial dimension. | |
double | stepSize_ |
The simulation step size. | |
unsigned int | minControlSteps_ |
The minimum number of times a control is applied in sequence. | |
unsigned int | maxControlSteps_ |
The maximum number of times a control is applied in sequence. | |
bool | simRunning_ |
Indicates whether the simulation has been shut down externally. | |
std::mutex | mutex_ |
Lock to use when performing simulations in the world. | |
Detailed Description
This class contains the MORSE constructs OMPL needs to know about when planning.
Definition at line 66 of file MorseEnvironment.h.
Constructor & Destructor Documentation
◆ MorseEnvironment()
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inline |
Definition at line 102 of file MorseEnvironment.h.
◆ ~MorseEnvironment()
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inline |
Definition at line 142 of file MorseEnvironment.h.
Member Function Documentation
◆ getControlBounds()
void ompl::base::MorseEnvironment::getControlBounds | ( | std::vector< double > & | lower, |
std::vector< double > & | upper ) const |
Get the control bounds – the bounding box in which to sample controls.
Definition at line 39 of file MorseEnvironment.cpp.
Member Data Documentation
◆ angvelBounds_
std::vector<double> ompl::base::MorseEnvironment::angvelBounds_ |
Upper and lower bounds on angular velocity in each spatial dimension.
Definition at line 85 of file MorseEnvironment.h.
◆ controlBounds_
const std::vector<double> ompl::base::MorseEnvironment::controlBounds_ |
Upper and lower bounds for each control dimension.
Definition at line 73 of file MorseEnvironment.h.
◆ controlDim_
const unsigned int ompl::base::MorseEnvironment::controlDim_ |
The dimension of the control space for this simulation.
Definition at line 70 of file MorseEnvironment.h.
◆ linvelBounds_
std::vector<double> ompl::base::MorseEnvironment::linvelBounds_ |
Upper and lower bounds on linear velocity in each spatial dimension.
Definition at line 82 of file MorseEnvironment.h.
◆ maxControlSteps_
unsigned int ompl::base::MorseEnvironment::maxControlSteps_ |
The maximum number of times a control is applied in sequence.
Definition at line 94 of file MorseEnvironment.h.
◆ minControlSteps_
unsigned int ompl::base::MorseEnvironment::minControlSteps_ |
The minimum number of times a control is applied in sequence.
Definition at line 91 of file MorseEnvironment.h.
◆ mutex_
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mutable |
Lock to use when performing simulations in the world.
Definition at line 100 of file MorseEnvironment.h.
◆ positionBounds_
std::vector<double> ompl::base::MorseEnvironment::positionBounds_ |
Upper and lower bounds on position in each spatial dimension.
Definition at line 79 of file MorseEnvironment.h.
◆ rigidBodies_
const unsigned int ompl::base::MorseEnvironment::rigidBodies_ |
The number of rigid bodies in the simulation.
Definition at line 76 of file MorseEnvironment.h.
◆ simRunning_
bool ompl::base::MorseEnvironment::simRunning_ |
Indicates whether the simulation has been shut down externally.
Definition at line 97 of file MorseEnvironment.h.
◆ stepSize_
double ompl::base::MorseEnvironment::stepSize_ |
The simulation step size.
Definition at line 88 of file MorseEnvironment.h.
The documentation for this class was generated from the following files:
- ompl/extensions/morse/MorseEnvironment.h
- ompl/extensions/morse/src/MorseEnvironment.cpp