Adapts a kinematic cspace (given to the constructor) to a kinodynamic one. More...
#include <KinodynamicSpace.h>
Inheritance diagram for KinematicCSpaceAdaptor:
Public Member Functions | |
| KinematicCSpaceAdaptor (const std::shared_ptr< CSpace > &base, Real maxNeighborhoodRadius=0.1) | |
 Public Member Functions inherited from KinodynamicSpace | |
| KinodynamicSpace (const std::shared_ptr< CSpace > &xspace, const std::shared_ptr< ControlSpace > &uspace) | |
| std::shared_ptr< ControlSpace > | GetControlSpace () const |
| std::shared_ptr< CSpace > | GetStateSpace () const |
| std::shared_ptr< CSet > | GetControlSet (const Config &x) |
| virtual EdgePlannerPtr | PathChecker (const InterpolatorPtr &path) |
| virtual EdgePlannerPtr | TrajectoryChecker (const ControlInput &u, const InterpolatorPtr &path) |
| virtual EdgePlannerPtr | TrajectoryChecker (const KinodynamicMilestonePath &path) |
| Return an edge planner that checks the path for feasibility. | |
| bool | IsValidControl (const State &x, const ControlInput &u) |
| InterpolatorPtr | Simulate (const State &x0, const ControlInput &u) |
| void | Successor (const State &x0, const ControlInput &u, State &x1) |
| Executes the simulation function x1 = f(x0,u) | |
| bool | NextState (const State &x0, const ControlInput &u, State &x1) |
| bool | PreviousState (const State &x1, const ControlInput &u, State &x0) |
| virtual void | Properties (PropertyMap &props) const |
| Marks this as being a dynamic problem. | |
Additional Inherited Members | |
| Public Attributes inherited from KinodynamicSpace | |
| std::shared_ptr< CSpace > | stateSpace |
| std::shared_ptr< ControlSpace > | controlSpace |
Detailed Description
Adapts a kinematic cspace (given to the constructor) to a kinodynamic one.
The state is the same as in the "base" cspace, and the control is a straight-line motion to another state. Controls are drawn in a neighborhood around a given state with distance maxNeighborhoodRadius.
If the destination state or motion are infeasible, the path is infeasible.
The documentation for this class was generated from the following files:
- KinodynamicSpace.h
- KinodynamicSpace.cpp
