KrisLibrary
1.0.0
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Public Member Functions | |
ReverseKinematicControlSpace (KinematicControlSpace *space) | |
virtual std::shared_ptr< CSet > | GetControlSet (const Config &x) |
virtual InterpolatorPtr | Simulate (const State &x1, const ControlInput &u) |
virtual void | Successor (const State &x1, const ControlInput &u, State &x0) |
virtual Math::VectorFieldFunction * | SuccessorNumeric () |
Public Member Functions inherited from ControlSpace | |
virtual std::string | VariableName (int i) |
Returns an identifier for the i'th control variable. | |
virtual std::shared_ptr< CSet > | GetControlSet (const State &x) |
virtual std::shared_ptr< SteeringFunction > | GetSteeringFunction () |
Returns this space's steering function, if available. | |
virtual void | SampleControl (const State &x, ControlInput &u) |
virtual bool | IsValidControl (const State &x, const ControlInput &u) |
Public Attributes | |
KinematicControlSpace * | space |
Public Attributes inherited from ControlSpace | |
std::shared_ptr< CSet > | myControlSet |
Dynamically overridable default control set (Note: state independent) | |
std::shared_ptr< SteeringFunction > | mySteeringFunction |
Dynamically overridable default steering function. | |
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virtual |
Executes the simulation function f(x0,u) and records its trace in p. The trace is an interpolator between x0 and the successor state
Implements ControlSpace.
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virtual |
Executes the simulation function x1 = f(x0,u). By default, uses the result from Simulate().
Reimplemented from ControlSpace.
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virtual |
If possible, express Successor as a VectorFieldFunction on the vector (x,u) (stacked)
Reimplemented from ControlSpace.