POSQ is a class to have the POSQ function as OMPL state space. More...

#include <POSQStateSpace.h>

Inheritance diagram for POSQStateSpace:

Collaboration diagram for POSQStateSpace:

Public Member Functions
	POSQStateSpace ()

	~POSQStateSpace () override

void	initialize ()
	Initialize the requested steering function. More...

double	distance (const ompl::base::State state1, const ompl::base::State state2) const override
	Compute the distance between the two states. More...

void	interpolate (const ompl::base::State from, const ompl::base::State to, double t, ompl::base::State *state) const override
	Interpolate between two states from and to. More...

virtual void	interpolate (const ompl::base::State from, const ompl::base::State to, double t, bool &firstTime, vector< UnicycleState > &states, ompl::base::State *state) const

virtual void	interpolate (const ompl::base::State from, const vector< UnicycleState > &states, double t, ompl::base::State state) const

void	sanityChecks () const override
	Checks if the state was properly initialized. More...

Protected Attributes
POSQ *	state_space_
	Object from the steering function workspace. More...

Detailed Description

POSQ is a class to have the POSQ function as OMPL state space.

Constructor & Destructor Documentation

◆ POSQStateSpace()

POSQStateSpace::POSQStateSpace ( )

inline

◆ ~POSQStateSpace()

POSQStateSpace::~POSQStateSpace ( )

inlineoverride

Member Function Documentation

◆ distance()

double POSQStateSpace::distance	(	const ompl::base::State *	state1,
		const ompl::base::State *	state2
	)		const

override

Compute the distance between the two states.

◆ initialize()

void POSQStateSpace::initialize ( )

Initialize the requested steering function.

◆ interpolate() [1/3]

void POSQStateSpace::interpolate	(	const ompl::base::State *	from,
		const ompl::base::State *	to,
		double	t,
		bool &	firstTime,
		vector< UnicycleState > &	states,
		ompl::base::State *	state
	)		const

virtual

◆ interpolate() [2/3]

void POSQStateSpace::interpolate	(	const ompl::base::State *	from,
		const ompl::base::State *	to,
		double	t,
		ompl::base::State *	state
	)		const

override

Interpolate between two states from and to.

Returns the state, of the curve connecting the states (from, to) computed at time t.

◆ interpolate() [3/3]

void POSQStateSpace::interpolate	(	const ompl::base::State *	from,
		const vector< UnicycleState > &	states,
		double	t,
		ompl::base::State *	state
	)		const

virtual

◆ sanityChecks()

void POSQStateSpace::sanityChecks ( ) const

inlineoverride

Checks if the state was properly initialized.

Member Data Documentation

◆ state_space_

POSQ* POSQStateSpace::state_space_

protected

Object from the steering function workspace.

The documentation for this class was generated from the following files:

src/steer_functions/POSQ/POSQStateSpace.h
src/steer_functions/POSQ/POSQStateSpace.cpp

Public Member Functions

Protected Attributes