All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
ompl::control Namespace Reference

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.

Detailed Description

This namespace contains sampling based planning routines used by planning under differential constraints.