Definition of a control path. More...
#include <ompl/control/PathControl.h>

Public Member Functions | |
PathControl (const base::SpaceInformationPtr &si) | |
Constructor. | |
PathControl (const PathControl &path) | |
Copy constructor. | |
PathControl & | operator= (const PathControl &other) |
Assignment operator. | |
base::Cost | cost (const base::OptimizationObjectivePtr &opt) const override |
Not yet implemented. | |
double | length () const override |
The path length (sum of control durations) | |
bool | check () const override |
Check if the path is valid. | |
void | print (std::ostream &out) const override |
Print the path to a stream. | |
virtual void | printAsMatrix (std::ostream &out) const |
Print the path as a real-valued matrix where the i-th row represents the i-th state along the path, followed by the control and duration needed to reach this state. For the first state the control and duration are zeroes. The state components printed are those returned by ompl::base::StateSpace::copyToReals, while the control components printed are the discrete components (if any) followed by the real-valued ones as returned by ompl::control::ControlSpace::getValueAddressAtIndex. | |
geometric::PathGeometric | asGeometric () const |
Convert this path into a geometric path (interpolation is performed and then states are copied) | |
Path operations | |
void | append (const base::State *state) |
Append state to the end of the path; it is assumed state is the first state, so no control is applied. The memory for state is copied. There are no checks to make sure the number of controls and states make sense. | |
void | append (const base::State *state, const Control *control, double duration) |
Append state to the end of the path and assume control is applied for the duration duration. The memory for state and for control is copied. There are no checks to make sure the number of controls and states make sense. | |
void | interpolate () |
Make the path such that all controls are applied for a single time step (computes intermediate states) | |
void | random () |
Set this path to a random segment. | |
bool | randomValid (unsigned int attempts) |
Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success. | |
Functionality for accessing states and controls | |
std::vector< base::State * > & | getStates () |
Get the states that make up the path (as a reference, so it can be modified, hence the function is not const) | |
std::vector< Control * > & | getControls () |
Get the controls that make up the path (as a reference, so it can be modified, hence the function is not const) | |
std::vector< double > & | getControlDurations () |
Get the control durations used along the path (as a reference, so it can be modified, hence the function is not const) | |
base::State * | getState (unsigned int index) |
Get the state located at index along the path. | |
const base::State * | getState (unsigned int index) const |
Get the state located at index along the path. | |
Control * | getControl (unsigned int index) |
Get the control located at index along the path. This is the control that gets applied to the state located at index. | |
const Control * | getControl (unsigned int index) const |
Get the control located at index along the path. This is the control that gets applied to the state located at index. | |
double | getControlDuration (unsigned int index) const |
Get the duration of the control at index, which gets applied to the state at index. | |
std::size_t | getStateCount () const |
Get the number of states (way-points) that make up this path. | |
std::size_t | getControlCount () const |
Get the number of controls applied along this path. This should be equal to getStateCount() - 1 unless there are 0 states, in which case the number of controls will also be 0. | |
Public Member Functions inherited from ompl::base::Path | |
Path (const Path &)=delete | |
Path & | operator= (const Path &)=delete |
Path (SpaceInformationPtr si) | |
Constructor. A path must always know the space information it is part of. | |
virtual | ~Path ()=default |
Destructor. | |
const SpaceInformationPtr & | getSpaceInformation () const |
Get the space information associated to this class. | |
template<class T> | |
const T * | as () const |
Cast this instance to a desired type. | |
template<class T> | |
T * | as () |
Cast this instance to a desired type. | |
virtual Cost | cost (const OptimizationObjectivePtr &obj) const =0 |
Return the cost of the path with respect to a specified optimization objective. |
Protected Member Functions | |
void | freeMemory () |
Free the memory allocated by the path. | |
void | copyFrom (const PathControl &other) |
Copy the content of a path to this one. |
Protected Attributes | |
std::vector< base::State * > | states_ |
The list of states that make up the path. | |
std::vector< Control * > | controls_ |
The control applied at each state. This array contains one element less than the list of states. | |
std::vector< double > | controlDurations_ |
The duration of the control applied at each state. This array contains one element less than the list of states. | |
Protected Attributes inherited from ompl::base::Path | |
SpaceInformationPtr | si_ |
The space information this path is part of. |
Detailed Description
Definition of a control path.
This is the type of path produced when planning with differential constraints.
Definition at line 60 of file PathControl.h.
Constructor & Destructor Documentation
◆ PathControl() [1/2]
ompl::control::PathControl::PathControl | ( | const base::SpaceInformationPtr & | si | ) |
Constructor.
Definition at line 80 of file PathControl.cpp.
◆ PathControl() [2/2]
ompl::control::PathControl::PathControl | ( | const PathControl & | path | ) |
Copy constructor.
Definition at line 86 of file PathControl.cpp.
◆ ~PathControl()
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inlineoverride |
Definition at line 69 of file PathControl.h.
Member Function Documentation
◆ append() [1/2]
void ompl::control::PathControl::append | ( | const base::State * | state | ) |
Append state to the end of the path; it is assumed state is the first state, so no control is applied. The memory for state is copied. There are no checks to make sure the number of controls and states make sense.
Definition at line 262 of file PathControl.cpp.
◆ append() [2/2]
void ompl::control::PathControl::append | ( | const base::State * | state, |
const Control * | control, | ||
double | duration ) |
Append state to the end of the path and assume control is applied for the duration duration. The memory for state and for control is copied. There are no checks to make sure the number of controls and states make sense.
Definition at line 267 of file PathControl.cpp.
◆ asGeometric()
ompl::geometric::PathGeometric ompl::control::PathControl::asGeometric | ( | ) | const |
Convert this path into a geometric path (interpolation is performed and then states are copied)
Definition at line 91 of file PathControl.cpp.
◆ check()
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overridevirtual |
Check if the path is valid.
Implements ompl::base::Path.
Definition at line 237 of file PathControl.cpp.
◆ copyFrom()
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protected |
Copy the content of a path to this one.
Definition at line 108 of file PathControl.cpp.
◆ cost()
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override |
Not yet implemented.
Definition at line 123 of file PathControl.cpp.
◆ freeMemory()
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protected |
Free the memory allocated by the path.
Definition at line 335 of file PathControl.cpp.
◆ getControl() [1/2]
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inline |
Get the control located at index along the path. This is the control that gets applied to the state located at index.
Definition at line 169 of file PathControl.h.
◆ getControl() [2/2]
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inline |
Get the control located at index along the path. This is the control that gets applied to the state located at index.
Definition at line 176 of file PathControl.h.
◆ getControlCount()
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inline |
Get the number of controls applied along this path. This should be equal to getStateCount() - 1 unless there are 0 states, in which case the number of controls will also be 0.
Definition at line 195 of file PathControl.h.
◆ getControlDuration()
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inline |
Get the duration of the control at index, which gets applied to the state at index.
Definition at line 182 of file PathControl.h.
◆ getControlDurations()
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inline |
Get the control durations used along the path (as a reference, so it can be modified, hence the function is not const)
Definition at line 150 of file PathControl.h.
◆ getControls()
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inline |
Get the controls that make up the path (as a reference, so it can be modified, hence the function is not const)
Definition at line 143 of file PathControl.h.
◆ getState() [1/2]
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inline |
Get the state located at index along the path.
Definition at line 156 of file PathControl.h.
◆ getState() [2/2]
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inline |
Get the state located at index along the path.
Definition at line 162 of file PathControl.h.
◆ getStateCount()
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inline |
Get the number of states (way-points) that make up this path.
Definition at line 188 of file PathControl.h.
◆ getStates()
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inline |
Get the states that make up the path (as a reference, so it can be modified, hence the function is not const)
Definition at line 136 of file PathControl.h.
◆ interpolate()
void ompl::control::PathControl::interpolate | ( | ) |
Make the path such that all controls are applied for a single time step (computes intermediate states)
Definition at line 187 of file PathControl.cpp.
◆ length()
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overridevirtual |
The path length (sum of control durations)
Implements ompl::base::Path.
Definition at line 129 of file PathControl.cpp.
◆ operator=()
ompl::control::PathControl & ompl::control::PathControl::operator= | ( | const PathControl & | other | ) |
Assignment operator.
Definition at line 100 of file PathControl.cpp.
◆ print()
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overridevirtual |
Print the path to a stream.
Implements ompl::base::Path.
Definition at line 134 of file PathControl.cpp.
◆ printAsMatrix()
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virtual |
Print the path as a real-valued matrix where the i-th row represents the i-th state along the path, followed by the control and duration needed to reach this state. For the first state the control and duration are zeroes. The state components printed are those returned by ompl::base::StateSpace::copyToReals, while the control components printed are the discrete components (if any) followed by the real-valued ones as returned by ompl::control::ControlSpace::getValueAddressAtIndex.
Definition at line 152 of file PathControl.cpp.
◆ random()
void ompl::control::PathControl::random | ( | ) |
Set this path to a random segment.
Definition at line 275 of file PathControl.cpp.
◆ randomValid()
bool ompl::control::PathControl::randomValid | ( | unsigned int | attempts | ) |
Set this path to a random valid segment. Sample attempts times for valid segments. Returns true on success.
Definition at line 296 of file PathControl.cpp.
Member Data Documentation
◆ controlDurations_
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protected |
The duration of the control applied at each state. This array contains one element less than the list of states.
Definition at line 212 of file PathControl.h.
◆ controls_
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protected |
The control applied at each state. This array contains one element less than the list of states.
Definition at line 208 of file PathControl.h.
◆ states_
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protected |
The list of states that make up the path.
Definition at line 204 of file PathControl.h.
The documentation for this class was generated from the following files:
- ompl/control/PathControl.h
- ompl/control/src/PathControl.cpp