This class contains the MORSE constructs OMPL needs to know about when planning. More...
#include <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. | |
| boost::mutex | mutex_ |
| Lock to use when performing simulations in the world. | |
This class contains the MORSE constructs OMPL needs to know about when planning.
Definition at line 67 of file MorseEnvironment.h.
