Inheritance diagram for StateCostKinodynamicSpace:

Public Member Functions
	StateCostKinodynamicSpace (const std::shared_ptr< KinodynamicSpace > &base, const std::shared_ptr< ObjectiveFunctionalBase > &objective, Real costMax=Inf)

virtual EdgePlannerPtr	TrajectoryChecker (const ControlInput &u, const std::shared_ptr< Interpolator > &path)

void	SetCostMax (Real costmax)

void	SetCostDistanceWeight (Real weight)

Real	GetCostMax ()

Real	GetCostDistanceWeight ()

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 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.

Public Attributes
std::shared_ptr< KinodynamicSpace >	base

std::shared_ptr< CSpace >	scspace

std::shared_ptr< ObjectiveFunctionalBase >	objective

Public Attributes inherited from KinodynamicSpace
std::shared_ptr< CSpace >	stateSpace

std::shared_ptr< ControlSpace >	controlSpace

Member Function Documentation

EdgePlannerPtr StateCostKinodynamicSpace::TrajectoryChecker	(	const ControlInput &	u,
		const std::shared_ptr< Interpolator > &	path
	)

virtual

Return an edge planner that checks the simulation trace p for feasibility Typically, just return the state space's PathChecker

Reimplemented from KinodynamicSpace.

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

Public Member Functions