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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
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<div class="title">ompl::control::ODEEnvironment Class Reference</div> </div>
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<!-- doxytag: class="ompl::control::ODEEnvironment" -->
<p>This class contains the ODE constructs OMPL needs to know about when planning.
<a href="classompl_1_1control_1_1ODEEnvironment.html#details">More...</a></p>
<p><code>#include <<a class="el" href="ODEEnvironment_8h_source.html">ODEEnvironment.h</a>></code></p>
<p><a href="classompl_1_1control_1_1ODEEnvironment-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="affbd44a3a8f3b0ee9bab101dd6118882"></a><!-- doxytag: member="ompl::control::ODEEnvironment::getControlDimension" ref="affbd44a3a8f3b0ee9bab101dd6118882" args="(void) const =0" -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#affbd44a3a8f3b0ee9bab101dd6118882">getControlDimension</a> (void) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of parameters (double values) needed to specify a control input. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af00a9cd54690f68b9c5e5be3bbb9505b"></a><!-- doxytag: member="ompl::control::ODEEnvironment::getControlBounds" ref="af00a9cd54690f68b9c5e5be3bbb9505b" args="(std::vector< double > &lower, std::vector< double > &upper) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#af00a9cd54690f68b9c5e5be3bbb9505b">getControlBounds</a> (std::vector< double > &lower, std::vector< double > &upper) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the control bounds -- the bounding box in which to sample controls. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a63631eea956ae809f68412fa71218214"></a><!-- doxytag: member="ompl::control::ODEEnvironment::applyControl" ref="a63631eea956ae809f68412fa71218214" args="(const double *control) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#a63631eea956ae809f68412fa71218214">applyControl</a> (const double *control) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Application of a control. This function sets the forces/torques/velocities for bodies in the simulation based on control inputs. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad9a735c35a15101711f7ba96e44ea15e"></a><!-- doxytag: member="ompl::control::ODEEnvironment::isValidCollision" ref="ad9a735c35a15101711f7ba96e44ea15e" args="(dGeomID geom1, dGeomID geom2, const dContact &contact) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#ad9a735c35a15101711f7ba96e44ea15e">isValidCollision</a> (dGeomID geom1, dGeomID geom2, const dContact &contact) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Decide whether a collision is a valid one or not. In some cases, collisions between some bodies can be allowed. By default, this function always returns false, making all collisions invalid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae32fec4cb60f1d4748d044c8f0f9bb26"></a><!-- doxytag: member="ompl::control::ODEEnvironment::getMaxContacts" ref="ae32fec4cb60f1d4748d044c8f0f9bb26" args="(dGeomID geom1, dGeomID geom2) const " -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#ae32fec4cb60f1d4748d044c8f0f9bb26">getMaxContacts</a> (dGeomID geom1, dGeomID geom2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum number of contacts to set up between two colliding geoms. By default, this just returns the member variable maxContacts. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9ca2fc51b8a772dc0a4235f5884507cc"></a><!-- doxytag: member="ompl::control::ODEEnvironment::setupContact" ref="a9ca2fc51b8a772dc0a4235f5884507cc" args="(dGeomID geom1, dGeomID geom2, dContact &contact) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#a9ca2fc51b8a772dc0a4235f5884507cc">setupContact</a> (dGeomID geom1, dGeomID geom2, dContact &contact) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters to set when contacts are created between <em>geom1</em> and <em>geom2</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae5da2bbc0b93a6194bcb79bb6dfe387a"></a><!-- doxytag: member="ompl::control::ODEEnvironment::getGeomName" ref="ae5da2bbc0b93a6194bcb79bb6dfe387a" args="(dGeomID geom) const " -->
std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#ae5da2bbc0b93a6194bcb79bb6dfe387a">getGeomName</a> (dGeomID geom) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the name of a body. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aae6ff2e49fd57d861944c023f353ca36"></a><!-- doxytag: member="ompl::control::ODEEnvironment::setGeomName" ref="aae6ff2e49fd57d861944c023f353ca36" args="(dGeomID geom, const std::string &name)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#aae6ff2e49fd57d861944c023f353ca36">setGeomName</a> (dGeomID geom, const std::string &name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the name of a body. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a963d0d057d2b588d594051b42292ffc6"></a><!-- doxytag: member="ompl::control::ODEEnvironment::world_" ref="a963d0d057d2b588d594051b42292ffc6" args="" -->
dWorldID </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#a963d0d057d2b588d594051b42292ffc6">world_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The ODE world where the simulation is performed. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac0eba2a3d6bb57f365878c70c7f30f00"></a><!-- doxytag: member="ompl::control::ODEEnvironment::collisionSpaces_" ref="ac0eba2a3d6bb57f365878c70c7f30f00" args="" -->
std::vector< dSpaceID > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#ac0eba2a3d6bb57f365878c70c7f30f00">collisionSpaces_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The set of spaces where contacts need to be evaluated before simulation takes place. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa72f756a8a9078e4318ac99b8b5e071a"></a><!-- doxytag: member="ompl::control::ODEEnvironment::stateBodies_" ref="aa72f756a8a9078e4318ac99b8b5e071a" args="" -->
std::vector< dBodyID > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#aa72f756a8a9078e4318ac99b8b5e071a">stateBodies_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The set of bodies that need to be considered part of the state when planning. This is not necessarily all the bodies in the environment. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5cfcd1480c34a4b1b53545b6619c4400"></a><!-- doxytag: member="ompl::control::ODEEnvironment::geomNames_" ref="a5cfcd1480c34a4b1b53545b6619c4400" args="" -->
std::map< dGeomID, std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#a5cfcd1480c34a4b1b53545b6619c4400">geomNames_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Optional map of names given to geoms. This is useful when collision checking is verbose. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa4ba29fa6f1a76e2a8e7439e9523f046"></a><!-- doxytag: member="ompl::control::ODEEnvironment::verboseContacts_" ref="aa4ba29fa6f1a76e2a8e7439e9523f046" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#aa4ba29fa6f1a76e2a8e7439e9523f046">verboseContacts_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Issue debug messages when contacts are found. Default is false. This should only be used for debugging. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8955f21ea18d0bd1037608de29f32e6b"></a><!-- doxytag: member="ompl::control::ODEEnvironment::contactGroup_" ref="a8955f21ea18d0bd1037608de29f32e6b" args="" -->
dJointGroupID </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#a8955f21ea18d0bd1037608de29f32e6b">contactGroup_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The group of joints where contacts are created. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac41b8cd93bfc8d8448ca8cd08649454a"></a><!-- doxytag: member="ompl::control::ODEEnvironment::maxContacts_" ref="ac41b8cd93bfc8d8448ca8cd08649454a" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#ac41b8cd93bfc8d8448ca8cd08649454a">maxContacts_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maximum number of contacts to create between two bodies when a collision occurs. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac6032bec24d39ca426f647c0fc4a82fc"></a><!-- doxytag: member="ompl::control::ODEEnvironment::stepSize_" ref="ac6032bec24d39ca426f647c0fc4a82fc" args="" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#ac6032bec24d39ca426f647c0fc4a82fc">stepSize_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The simulation step size. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abc3b955163e4707c0164b4e43b0509cc"></a><!-- doxytag: member="ompl::control::ODEEnvironment::maxControlSteps_" ref="abc3b955163e4707c0164b4e43b0509cc" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#abc3b955163e4707c0164b4e43b0509cc">maxControlSteps_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maximum number of times a control is applies in sequence. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af5578355917aff91e7656d0bc2de7c4b"></a><!-- doxytag: member="ompl::control::ODEEnvironment::minControlSteps_" ref="af5578355917aff91e7656d0bc2de7c4b" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#af5578355917aff91e7656d0bc2de7c4b">minControlSteps_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The minimum number of times a control is applies in sequence. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4ef75187c77c26d167603e3b3d907ce9"></a><!-- doxytag: member="ompl::control::ODEEnvironment::mutex_" ref="a4ef75187c77c26d167603e3b3d907ce9" args="" -->
boost::mutex </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1ODEEnvironment.html#a4ef75187c77c26d167603e3b3d907ce9">mutex_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Lock to use when performing simulations in the world. (ODE simulations are NOT thread safe) <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class contains the ODE constructs OMPL needs to know about when planning. </p>
<p>Definition at line <a class="el" href="ODEEnvironment_8h_source.html#l00065">65</a> of file <a class="el" href="ODEEnvironment_8h_source.html">ODEEnvironment.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/extensions/ode/<a class="el" href="ODEEnvironment_8h_source.html">ODEEnvironment.h</a></li>
<li>src/ompl/extensions/ode/src/<a class="el" href="ODEEnvironment_8cpp_source.html">ODEEnvironment.cpp</a></li>
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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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