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LTLWithTriangulation.cpp
74 void sampleFullState(const ob::StateSamplerPtr& sampler, const std::vector<double>& coord, ob::State* s) const override
82void addObstaclesAndPropositions(std::shared_ptr<oc::PropositionalTriangularDecomposition> &decomp)
145void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result)
176 std::shared_ptr<oc::PropositionalTriangularDecomposition> ptd = std::make_shared<MyDecomposition>(bounds);
The lower and upper bounds for an Rn space.
Definition RealVectorBounds.h:48
A state space representing SO(2). The distance function and interpolation take into account angle wra...
Definition SO2StateSpace.h:64
void enforceBounds(State *state) const override
Normalize the value of the state to the interval [-Pi, Pi)
Definition SO2StateSpace.cpp:80
ompl::base::State StateType
Define the type of state allocated by this space.
Definition StateSpace.h:78
static AutomatonPtr AvoidanceAutomaton(unsigned int numProps, const std::vector< unsigned int > &avoidProps)
Returns an avoidance automaton, which rejects when any one of the given list of propositions becomes ...
Definition Automaton.cpp:382
static AutomatonPtr SequenceAutomaton(unsigned int numProps, const std::vector< unsigned int > &seqProps)
Helper function to return a sequence automaton. Assumes all propositions are mutually exclusive.
Definition Automaton.cpp:340
A planner for generating system trajectories to satisfy a logical specification given by an automaton...
Definition LTLPlanner.h:59
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,...
Definition PathControl.cpp:152
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects proposi...
Definition PropositionalTriangularDecomposition.h:59
PropositionalTriangularDecomposition(const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &props=std::vector< Polygon >())
Creates a PropositionalTriangularDecomposition over the given bounds, which must be 2-dimensional....
Definition PropositionalTriangularDecomposition.cpp:76
The definition of a control in Rn
Definition RealVectorControlSpace.h:66
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition SpaceInformation.h:71
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49