State Manifolds
This set of state manifolds included in in OMPL:
- Rn (ompl::base::RealVectorStateManifold),
- SO(2) (rotation in the plane, ompl::base::SO2StateManifold),
- SO(3) (rotation in 3D, ompl::base::SO3StateManifold),
- SE(2) (rotation and translation in the plane, ompl::base::SE2StateManifold),
- SE(3) (rotation and translation in 3D, ompl::base::SE3StateManifold),
- Time (representation of time, ompl::base::TimeStateManifold) and
- ODE (representation of ODE states, if the Open Dynamics Engine library is available, ompl::control::ODEStateManifold).
In addition, the ompl::base::CompoundStateManifold allows users to create arbitrarily complex state spaces out of simpler manifolds.
Control Manifolds
This set of control manifolds included in in OMPL: