This namespace contains sampling based planning routines used by planning under differential constraints. More...
Classes | |
class | Control |
Definition of an abstract control. More... | |
class | CompoundControl |
Definition of a compound control. More... | |
class | ControlManifold |
A manifold representing the space of applicable controls. More... | |
class | CompoundControlManifold |
A manifold to allow the composition of control manifolds. More... | |
class | ControlSampler |
Abstract definition of a control sampler. Motion planners that need to sample controls will call functions from this class. Planners should call the versions of sample() and sampleNext() with most arguments, whenever this information is available. More... | |
class | CompoundControlSampler |
Definition of a compound control sampler. This is useful to construct samplers for compound controls. More... | |
class | RealVectorControlUniformSampler |
Uniform sampler for the Rn manifold. More... | |
class | RealVectorControlManifold |
A manifold representing Rn. The distance function is the L2 norm. More... | |
class | PathControl |
Definition of a control path. More... | |
class | KPIECE1 |
Kinodynamic Planning by Interior-Exterior Cell Exploration. More... | |
class | RRT |
Rapidly-exploring Random Tree. More... | |
class | SimpleSetup |
Create the set of classes typically needed to solve a control problem. More... | |
class | SpaceInformation |
Space information containing necessary information for planning with controls. setup() needs to be called before use. More... | |
class | ODEControlManifold |
Representation of controls applied in ODE environments. This is an array of double values. Only forward propagation is possible. More... | |
class | ODEEnvironment |
This class contains the ODE constructs OMPL needs to know about when planning. More... | |
class | ODESimpleSetup |
Create the set of classes typically needed to solve a control problem when forward propagation is computed with ODE. More... | |
class | ODEStateManifold |
State manifold representing ODE states. More... | |
class | ODEStateValidityChecker |
The simplest state validity checker: all states are valid. More... | |
class | ControlManifoldPtr |
A boost shared pointer wrapper for ompl::control::ControlManifold. More... | |
class | ControlSamplerPtr |
A boost shared pointer wrapper for ompl::control::ControlSampler. More... | |
class | SpaceInformationPtr |
A boost shared pointer wrapper for ompl::control::SpaceInformation. More... | |
class | ODEEnvironmentPtr |
A boost shared pointer wrapper for ompl::control::ODEEnvironment. More... | |
Typedefs | |
typedef boost::function4< void, const base::State *, const Control *, const double, base::State * > | StatePropagationFn |
A function that achieves state propagation. | |
typedef boost::function1 < ControlSamplerPtr, const ControlManifold * > | ControlSamplerAllocator |
Definition of a function that can allocate a control sampler. | |
Functions | |
ClassForward (ControlManifold) | |
Forward declaration of ompl::control::ControlManifold. | |
ClassForward (ControlSampler) | |
Forward declaration of ompl::control::ControlSampler. | |
void | checkProjectionEvaluator (const base::Planner *planner, base::ProjectionEvaluatorPtr &proj) |
Check if projection evaluator is defined properly. If not, attempt to use default. | |
base::PlannerPtr | getDefaultPlanner (const base::GoalPtr &goal) |
Given a goal specification, decide on a planner for that goal. | |
ClassForward (SpaceInformation) | |
Forward declaration of ompl::control::SpaceInformation. | |
ClassForward (ODEEnvironment) | |
Forward declaration of ompl::control::ODEEnvironment. |
This namespace contains sampling based planning routines used by planning under differential constraints.