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()

ompl::base::MorseEnvironment::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
	)

inline

Definition at line 102 of file MorseEnvironment.h.

◆ ~MorseEnvironment()

ompl::base::MorseEnvironment::~MorseEnvironment ( )

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_

std::mutex ompl::base::MorseEnvironment::mutex_

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

Public Member Functions

Public Attributes