ompl::control::MorseSimpleSetup Class Reference
Create the set of classes typically needed to solve a control problem when forward propagation is computed with MORSE. More...
#include <ompl/extensions/morse/MorseSimpleSetup.h>
Inheritance diagram for ompl::control::MorseSimpleSetup:
Public Member Functions | |
| MorseSimpleSetup (const base::MorseEnvironmentPtr &env) | |
| The control space is assumed to be MorseControlSpace. The state space is assumed to be MorseStateSpace. Constructor only needs the MORSE environment. | |
| const base::MorseEnvironmentPtr & | getEnvironment () const |
| Get the MORSE environment associated with this setup. | |
|
base::ScopedState < base::MorseStateSpace > | getCurrentState () const |
| Get the current MORSE state (read parameters from MORSE bodies) | |
| void | setCurrentState (const base::ScopedState<> &state) |
| Set the current MORSE state (set parameters for MORSE bodies) | |
| void | setCurrentState (const base::State *state) |
| Set the current MORSE state (set parameters for MORSE bodies) | |
| void | setup () |
| This method will create the necessary classes for planning. The solve() method will call this function automatically. | |
| base::PlannerStatus | solve () |
| Run the planner until solution is found or user shuts down MORSE. | |
| void | playPath (const base::PathPtr &path) const |
| Set the MORSE world to the states that are contained in a given path, sequentially. | |
| void | playSolutionPath () const |
| Call playPath() on the solution path, if one is available. | |
| base::PathPtr | simulateControl (const double *control, unsigned int steps) const |
| Simulate the MORSE environment forward for steps simulation steps, using the control control. Construct a path representing this action. | |
| base::PathPtr | simulateControl (const Control *control, unsigned int steps) const |
| Simulate the MORSE environment forward for steps simulation steps, using the control control. Construct a path representing this action. | |
| base::PathPtr | simulate (unsigned int steps) const |
| Simulate the MORSE environment forward for steps simulation steps, using the null control (ompl::control::ControlSpace::nullControl()). Construct a path representing this action. | |
Public Attributes | |
| const base::MorseEnvironmentPtr | env_ |
| Pointer to the environment representing the MORSE simulation. | |
Detailed Description
Create the set of classes typically needed to solve a control problem when forward propagation is computed with MORSE.
Definition at line 52 of file MorseSimpleSetup.h.
The documentation for this class was generated from the following files:
- ompl/extensions/morse/MorseSimpleSetup.h
- ompl/extensions/morse/src/MorseSimpleSetup.cpp