KrisLibrary
1.0.0
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given a steering function on a base space q' = f(q,ubase), adapts it to the proper steering function on a SpaceTimeIntegratedControlSpace where the state component is x=(t,q) and the control is u=(dt,ubase). More...
Public Member Functions | |
SpaceTimeSteeringFunction (const shared_ptr< SteeringFunction > &_base) | |
virtual bool | IsExact () const |
virtual bool | IsOptimal () const |
virtual bool | Connect (const State &x, const State &y, KinodynamicMilestonePath &path) |
Public Attributes | |
shared_ptr< SteeringFunction > | base |
given a steering function on a base space q' = f(q,ubase), adapts it to the proper steering function on a SpaceTimeIntegratedControlSpace where the state component is x=(t,q) and the control is u=(dt,ubase).