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--></script> <div id="nav-path" class="navpath"> <ul> <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a> </li> <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a> </li> <li class="navelem"><a class="el" href="dir_1ebcd69eafda777e1b7ee573415af9b3.html">extensions</a> </li> <li class="navelem"><a class="el" href="dir_1b236733af466129d307db6fd8c491fe.html">ode</a> </li> </ul> </div> </div> <div class="header"> <div class="headertitle"> <div class="title">ODESimpleSetup.h</div> </div> </div> <div class="contents"> <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">#ifndef OMPL_EXTENSION_ODE_SIMPLE_SETUP_</span> <a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_EXTENSION_ODE_SIMPLE_SETUP_</span> <a name="l00039"></a>00039 <span class="preprocessor"></span> <a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/control/SimpleSetup.h"</span> <a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/extensions/ode/ODEStateValidityChecker.h"</span> <a name="l00042"></a>00042 <span class="preprocessor">#include "ompl/extensions/ode/ODEStatePropagator.h"</span> <a name="l00043"></a>00043 <span class="preprocessor">#include "ompl/extensions/ode/ODEControlSpace.h"</span> <a name="l00044"></a>00044 <a name="l00045"></a>00045 <span class="keyword">namespace </span>ompl <a name="l00046"></a>00046 { <a name="l00047"></a>00047 <a name="l00048"></a>00048 <span class="keyword">namespace </span>control <a name="l00049"></a>00049 { <a name="l00050"></a>00050 <a name="l00053"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html">00053</a> <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html" title="Create the set of classes typically needed to solve a control problem when forward propagation is com...">ODESimpleSetup</a> : <span class="keyword">public</span> <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 name="l00054"></a>00054 { <a name="l00055"></a>00055 <span class="keyword">public</span>: <a name="l00056"></a>00056 <a name="l00058"></a>00058 <span class="keyword">explicit</span> <a name="l00059"></a>00059 <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ac7fec105008325483fc6603cc101f9e9" title="Constructor needs the control space needed for planning.">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 name="l00060"></a>00060 <a name="l00062"></a>00062 <span class="keyword">explicit</span> <a name="l00063"></a>00063 <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ac7fec105008325483fc6603cc101f9e9" title="Constructor needs the control space needed for planning.">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="l00064"></a>00064 <a name="l00069"></a>00069 <span class="keyword">explicit</span> <a name="l00070"></a>00070 <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ac7fec105008325483fc6603cc101f9e9" title="Constructor needs the control space needed for planning.">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="l00071"></a>00071 <a name="l00072"></a>00072 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html" title="Create the set of classes typically needed to solve a control problem when forward propagation is com...">ODESimpleSetup</a>(<span class="keywordtype">void</span>) <a name="l00073"></a>00073 { <a name="l00074"></a>00074 } <a name="l00075"></a>00075 <a name="l00077"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#afbab64b91c2b550c374b58204217990b">00077</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>& <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#afbab64b91c2b550c374b58204217990b" title="Get the ODE environment associated to the state and control spaces.">getEnvironment</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span> <a name="l00078"></a>00078 <span class="keyword"> </span>{ <a name="l00079"></a>00079 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a17406bf1e66f3ca388f4cde9aa4d4b20" title="Get the current instance of the state space.">getStateSpace</a>()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()-><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#afbab64b91c2b550c374b58204217990b" title="Get the ODE environment associated to the state and control spaces.">getEnvironment</a>(); <a name="l00080"></a>00080 } <a name="l00081"></a>00081 <a name="l00083"></a>00083 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">base::ScopedState<ODEStateSpace></a> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ae5a2cf5e850ea67ea0d025d9a5a58425" title="Get the current ODE state (read parameters from ODE bodies)">getCurrentState</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>; <a name="l00084"></a>00084 <a name="l00086"></a>00086 <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)">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="l00087"></a>00087 <a name="l00089"></a>00089 <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)">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="l00090"></a>00090 <a name="l00092"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ad1037f263163e24773eb58cd1b5c7077">00092</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ad1037f263163e24773eb58cd1b5c7077" title="Set the bounds for the planning volume.">setVolumeBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> &bounds) <a name="l00093"></a>00093 { <a name="l00094"></a>00094 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a17406bf1e66f3ca388f4cde9aa4d4b20" title="Get the current instance of the state space.">getStateSpace</a>()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()-><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#ad1037f263163e24773eb58cd1b5c7077" title="Set the bounds for the planning volume.">setVolumeBounds</a>(bounds); <a name="l00095"></a>00095 } <a name="l00096"></a>00096 <a name="l00098"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a41832954b5e38b4db36a44873ef9ba3e">00098</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a41832954b5e38b4db36a44873ef9ba3e" title="Set the bounds for the linear velocity.">setLinearVelocityBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> &bounds) <a name="l00099"></a>00099 { <a name="l00100"></a>00100 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a17406bf1e66f3ca388f4cde9aa4d4b20" title="Get the current instance of the state space.">getStateSpace</a>()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()-><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a41832954b5e38b4db36a44873ef9ba3e" title="Set the bounds for the linear velocity.">setLinearVelocityBounds</a>(bounds); <a name="l00101"></a>00101 } <a name="l00102"></a>00102 <a name="l00104"></a><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a3feb0b7bdefea9b23baec45981814c8d">00104</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a3feb0b7bdefea9b23baec45981814c8d" title="Set the bounds for the angular velocity.">setAngularVelocityBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> &bounds) <a name="l00105"></a>00105 { <a name="l00106"></a>00106 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a17406bf1e66f3ca388f4cde9aa4d4b20" title="Get the current instance of the state space.">getStateSpace</a>()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()-><a class="code" href="classompl_1_1control_1_1ODESimpleSetup.html#a3feb0b7bdefea9b23baec45981814c8d" title="Set the bounds for the angular velocity.">setAngularVelocityBounds</a>(bounds); <a name="l00107"></a>00107 } <a name="l00108"></a>00108 <a name="l00113"></a>00113 <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...">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 = 1.0) <span class="keyword">const</span>; <a name="l00114"></a>00114 <a name="l00116"></a>00116 <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.">playSolutionPath</a>(<span class="keywordtype">double</span> timeFactor = 1.0) <span class="keyword">const</span>; <a name="l00117"></a>00117 <a name="l00120"></a>00120 <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">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...">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="l00121"></a>00121 <a name="l00124"></a>00124 <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">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...">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="l00125"></a>00125 <a name="l00130"></a>00130 <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">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...">simulate</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps) <span class="keyword">const</span>; <a name="l00131"></a>00131 <a name="l00132"></a>00132 <span class="keyword">virtual</span> <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...">setup</a>(<span class="keywordtype">void</span>); <a name="l00133"></a>00133 <a name="l00134"></a>00134 <span class="keyword">private</span>: <a name="l00135"></a>00135 <a name="l00136"></a>00136 <span class="keywordtype">void</span> useEnvParams(<span class="keywordtype">void</span>); <a name="l00137"></a>00137 <a name="l00138"></a>00138 }; <a name="l00139"></a>00139 } <a name="l00140"></a>00140 <a name="l00141"></a>00141 } <a name="l00142"></a>00142 <span class="preprocessor">#endif</span> </pre></div></div> </div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="javascript:void(0)" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> </div> <div class="footer span-22 push-2 last"> <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> • <a href="http://www.cs.rice.edu">Department of Computer Science</a> • <a href="http://www.rice.edu">Rice University</a><br> <div class="gray">Generated on Sun Oct 9 2011 23:04:40 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>