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<div class="title">ODESimpleSetup.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/extensions/ode/ODESimpleSetup.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <boost/thread.hpp></span>
<a name="l00040"></a>00040
<a name="l00041"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ac7fec105008325483fc6603cc101f9e9">00041</a> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ac7fec105008325483fc6603cc101f9e9" title="Constructor needs the control space needed for planning.">ompl::control::ODESimpleSetup::ODESimpleSetup</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a> &space) : <a class="code" href="classompl_1_1control_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a control problem.">SimpleSetup</a>(space)
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <span class="keywordflow">if</span> (!dynamic_cast<ODEControlSpace*>(space.get()))
<a name="l00044"></a>00044 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"ODE Control Space needed for ODE Simple Setup"</span>);
<a name="l00045"></a>00045 useEnvParams();
<a name="l00046"></a>00046 }
<a name="l00047"></a>00047
<a name="l00048"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a038e355a3ad42cddf1f68500610e324a">00048</a> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ac7fec105008325483fc6603cc101f9e9" title="Constructor needs the control space needed for planning.">ompl::control::ODESimpleSetup::ODESimpleSetup</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> &space) :
<a name="l00049"></a>00049 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a control problem.">SimpleSetup</a>(<a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a>(new <a class="code" href="classompl_1_1control_1_1ODEControlSpace.html" title="Representation of controls applied in ODE environments. This is an array of double values...">ODEControlSpace</a>(space)))
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 useEnvParams();
<a name="l00052"></a>00052 }
<a name="l00053"></a>00053
<a name="l00054"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ac71636c2864bf837020453fc25d259cf">00054</a> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ac7fec105008325483fc6603cc101f9e9" title="Constructor needs the control space needed for planning.">ompl::control::ODESimpleSetup::ODESimpleSetup</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironmentPtr.html" title="A boost shared pointer wrapper for ompl::control::ODEEnvironment.">ODEEnvironmentPtr</a> &env) :
<a name="l00055"></a>00055 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a control problem.">SimpleSetup</a>(<a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a>(new <a class="code" href="classompl_1_1control_1_1ODEControlSpace.html" title="Representation of controls applied in ODE environments. This is an array of double values...">ODEControlSpace</a>(base::StateSpacePtr(new <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>(env)))))
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 useEnvParams();
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keywordtype">void</span> ompl::control::ODESimpleSetup::useEnvParams(<span class="keywordtype">void</span>)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 si_->setPropagationStepSize(getStateSpace()->as<ODEStateSpace>()->getEnvironment()->stepSize_);
<a name="l00063"></a>00063 si_->setMinMaxControlDuration(getStateSpace()->as<ODEStateSpace>()->getEnvironment()->minControlSteps_,
<a name="l00064"></a>00064 getStateSpace()->as<ODEStateSpace>()->getEnvironment()->maxControlSteps_);
<a name="l00065"></a>00065 si_->setStatePropagator(StatePropagatorPtr(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1ODEStatePropagator.html" title="State propagation with ODE. Only forward propagation is possible.">ODEStatePropagator</a>(si_)));
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ae5a2cf5e850ea67ea0d025d9a5a58425">00068</a> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ompl::base::ScopedState<ompl::control::ODEStateSpace></a> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ae5a2cf5e850ea67ea0d025d9a5a58425" title="Get the current ODE state (read parameters from ODE bodies)">ompl::control::ODESimpleSetup::getCurrentState</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00069"></a>00069 <span class="keyword"></span>{
<a name="l00070"></a>00070 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">base::ScopedState<ODEStateSpace></a> current(getStateSpace());
<a name="l00071"></a>00071 getStateSpace()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()->readState(current.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>());
<a name="l00072"></a>00072 <span class="keywordflow">return</span> current;
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a76e4289383cf64287b998fdbbc668202">00075</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a9882600709aaeb5c6e458f8b511d2275" title="Set the current ODE state (set parameters for ODE bodies)">ompl::control::ODESimpleSetup::setCurrentState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 getStateSpace()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()->writeState(state);
<a name="l00078"></a>00078 }
<a name="l00079"></a>00079
<a name="l00080"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a9882600709aaeb5c6e458f8b511d2275">00080</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a9882600709aaeb5c6e458f8b511d2275" title="Set the current ODE state (set parameters for ODE bodies)">ompl::control::ODESimpleSetup::setCurrentState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">base::ScopedState<></a> &state)
<a name="l00081"></a>00081 {
<a name="l00082"></a>00082 getStateSpace()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()->writeState(state.<a class="code" href="classompl_1_1base_1_1ScopedState.html#afc13c57b8379540de664491aa7113c3a" title="Returns a pointer to the contained state.">get</a>());
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#af4717bef9f554daf4f282a0fe38dd509">00085</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#af4717bef9f554daf4f282a0fe38dd509" title="This method will create the necessary classes for planning. The solve() method will call this functio...">ompl::control::ODESimpleSetup::setup</a>(<span class="keywordtype">void</span>)
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 <span class="keywordflow">if</span> (!si_->getStateValidityChecker())
<a name="l00088"></a>00088 {
<a name="l00089"></a>00089 msg_.inform(<span class="stringliteral">"Using default state validity checker for ODE"</span>);
<a name="l00090"></a>00090 si_->setStateValidityChecker(<a class="code" href="classompl_1_1base_1_1StateValidityCheckerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateValidityChecker.">base::StateValidityCheckerPtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1ODEStateValidityChecker.html" title="The simplest state validity checker: all states are valid.">ODEStateValidityChecker</a>(si_)));
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 <span class="keywordflow">if</span> (pdef_->getStartStateCount() == 0)
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 msg_.inform(<span class="stringliteral">"Using the initial state of ODE as the starting state for the planner"</span>);
<a name="l00095"></a>00095 pdef_->addStartState(getCurrentState());
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a6b3e6976af723f42cbbabbe41a51d898" title="This method will create the necessary classes for planning. The solve() method will call this functio...">SimpleSetup::setup</a>();
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00100"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ad7e59917b0d3902cf221e21b3076ea27">00100</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ad7e59917b0d3902cf221e21b3076ea27" title="Call playPath() on the solution path, if one is available.">ompl::control::ODESimpleSetup::playSolutionPath</a>(<span class="keywordtype">double</span> timeFactor)<span class="keyword"> const</span>
<a name="l00101"></a>00101 <span class="keyword"></span>{
<a name="l00102"></a>00102 <span class="keywordflow">if</span> (haveSolutionPath())
<a name="l00103"></a>00103 playPath(getGoal()->getSolutionPath(), timeFactor);
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105
<a name="l00106"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a04f8efe4335db146c6428a70cad0aea7">00106</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a04f8efe4335db146c6428a70cad0aea7" title="Set the ODE world to the states that are contained in a given path, sequentially. Using timeFactor...">ompl::control::ODESimpleSetup::playPath</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">base::PathPtr</a> &path, <span class="keywordtype">double</span> timeFactor)<span class="keyword"> const</span>
<a name="l00107"></a>00107 <span class="keyword"></span>{
<a name="l00108"></a>00108 <span class="keywordtype">bool</span> ctl = <span class="keyword">false</span>;
<a name="l00109"></a>00109 <span class="keywordflow">if</span> (dynamic_cast<PathControl*>(path.get()))
<a name="l00110"></a>00110 ctl = <span class="keyword">true</span>;
<a name="l00111"></a>00111 <span class="keywordflow">else</span>
<a name="l00112"></a>00112 <span class="keywordflow">if</span> (!dynamic_cast<geometric::PathGeometric*>(path.get()))
<a name="l00113"></a>00113 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Unknown type of path"</span>);
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">geometric::PathGeometric</a> &pg = ctl ?
<a name="l00116"></a>00116 <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>*<span class="keyword">></span>(path.get())->asGeometric() : *<span class="keyword">static_cast<</span><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">geometric::PathGeometric</a>*<span class="keyword">></span>(path.get());
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="keywordflow">if</span> (!pg.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.empty())
<a name="l00119"></a>00119 {
<a name="l00120"></a>00120 msg_.debug(<span class="stringliteral">"Playing through %u states (%0.3f seconds)"</span>, (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)pg.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size(),
<a name="l00121"></a>00121 timeFactor * si_->getPropagationStepSize() * (double)(pg.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() - 1));
<a name="l00122"></a>00122 <a class="code" href="namespaceompl_1_1time.html#a4c9f24d26cae91eb6598630f6a22e1b9" title="Representation of a time duration.">time::duration</a> d = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(timeFactor * si_->getPropagationStepSize());
<a name="l00123"></a>00123 getStateSpace()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()->writeState(pg.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[0]);
<a name="l00124"></a>00124 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1 ; i < pg.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.size() ; ++i)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 boost::this_thread::sleep(d);
<a name="l00127"></a>00127 getStateSpace()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()->writeState(pg.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>[i]);
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131
<a name="l00132"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a0be66b54296ac7b1330626d4cc0ac139">00132</a> <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">ompl::base::PathPtr</a> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a0be66b54296ac7b1330626d4cc0ac139" title="Simulate the ODE environment forward for steps simulation steps, using the control control...">ompl::control::ODESimpleSetup::simulateControl</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>* control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps)<span class="keyword"> const</span>
<a name="l00133"></a>00133 <span class="keyword"></span>{
<a name="l00134"></a>00134 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *c = si_->allocControl();
<a name="l00135"></a>00135 memcpy(c-><a class="code" href="classompl_1_1control_1_1Control.html#a53552cde1fbdd3fcdcfe8ed1f96579c8" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ODEControlSpace::ControlType</a>>()-><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd" title="An array of length n, representing the value of the control.">values</a>, control, <span class="keyword">sizeof</span>(<span class="keywordtype">double</span>) * getControlSpace()->getDimension());
<a name="l00136"></a>00136 <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">base::PathPtr</a> path = simulateControl(c, steps);
<a name="l00137"></a>00137 si_->freeControl(c);
<a name="l00138"></a>00138 <span class="keywordflow">return</span> path;
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140
<a name="l00141"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#aeb2f9a526c1d3c40cdf3a2cbd09eede3">00141</a> <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">ompl::base::PathPtr</a> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a0be66b54296ac7b1330626d4cc0ac139" title="Simulate the ODE environment forward for steps simulation steps, using the control control...">ompl::control::ODESimpleSetup::simulateControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps)<span class="keyword"> const</span>
<a name="l00142"></a>00142 <span class="keyword"></span>{
<a name="l00143"></a>00143 <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a> *p(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>(si_));
<a name="l00144"></a>00144
<a name="l00145"></a>00145 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *s0 = si_->allocState();
<a name="l00146"></a>00146 getStateSpace()-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()->readState(s0);
<a name="l00147"></a>00147 p-><a class="code" href="classompl_1_1control_1_1PathControl.html#a2bd25b55f0de06ecac55cabb4b90a606" title="The list of states that make up the path.">states</a>.push_back(s0);
<a name="l00148"></a>00148
<a name="l00149"></a>00149 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *s1 = si_->allocState();
<a name="l00150"></a>00150 si_->propagate(s0, control, steps, s1);
<a name="l00151"></a>00151 p-><a class="code" href="classompl_1_1control_1_1PathControl.html#a2bd25b55f0de06ecac55cabb4b90a606" title="The list of states that make up the path.">states</a>.push_back(s1);
<a name="l00152"></a>00152
<a name="l00153"></a>00153 p-><a class="code" href="classompl_1_1control_1_1PathControl.html#a69d77e39906c91394470f9e988b4944a" title="The control applied at each state. This array contains one element less than the list of states...">controls</a>.push_back(si_->cloneControl(control));
<a name="l00154"></a>00154 p-><a class="code" href="classompl_1_1control_1_1PathControl.html#a3a8b0e7b00684789eac7d51d65d81b49" title="The duration of the control applied at each state. This array contains one element less than the list...">controlDurations</a>.push_back(steps);
<a name="l00155"></a>00155 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">base::PathPtr</a>(p);
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00158"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a2750bd137966d5bb6a05d0a6ec4465c4">00158</a> <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">ompl::base::PathPtr</a> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a2750bd137966d5bb6a05d0a6ec4465c4" title="Simulate the ODE environment forward for steps simulation steps, using the null control (ompl::contro...">ompl::control::ODESimpleSetup::simulate</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps)<span class="keyword"> const</span>
<a name="l00159"></a>00159 <span class="keyword"></span>{
<a name="l00160"></a>00160 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *c = si_->allocControl();
<a name="l00161"></a>00161 si_->nullControl(c);
<a name="l00162"></a>00162 <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">base::PathPtr</a> path = simulateControl(c, steps);
<a name="l00163"></a>00163 si_->freeControl(c);
<a name="l00164"></a>00164 <span class="keywordflow">return</span> path;
<a name="l00165"></a>00165 }
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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<a href="http://www.rice.edu">Rice University</a><br>
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