37 #ifndef OMPL_EXTENSION_MORSE_SIMPLE_SETUP_
38 #define OMPL_EXTENSION_MORSE_SIMPLE_SETUP_
40 #include "ompl/control/SimpleSetup.h"
41 #include "ompl/extensions/morse/MorseEnvironment.h"
42 #include "ompl/extensions/morse/MorseStateSpace.h"
const base::MorseEnvironmentPtr & getEnvironment(void) const
Get the MORSE environment associated with this setup.
base::ScopedState< base::MorseStateSpace > getCurrentState(void) const
Get the current MORSE state (read parameters from MORSE bodies)
Definition of a scoped state.
Definition of an abstract control.
const base::MorseEnvironmentPtr env_
Pointer to the environment representing the MORSE simulation.
Create the set of classes typically needed to solve a control problem.
MorseSimpleSetup(const base::MorseEnvironmentPtr &env)
The control space is assumed to be MorseControlSpace. The state space is assumed to be MorseStateSpac...
void playSolutionPath(void) const
Call playPath() on the solution path, if one is available.
base::PlannerStatus solve(void)
Run the planner until solution is found or user shuts down MORSE.
base::PathPtr simulateControl(const double *control, unsigned int steps) const
Simulate the MORSE environment forward for steps simulation steps, using the control control...
void setup(void)
This method will create the necessary classes for planning. The solve() method will call this functio...
A class to store the exit status of Planner::solve()
void playPath(const base::PathPtr &path) const
Set the MORSE world to the states that are contained in a given path, sequentially.
Definition of an abstract state.
Create the set of classes typically needed to solve a control problem when forward propagation is com...
base::PathPtr simulate(unsigned int steps) const
Simulate the MORSE environment forward for steps simulation steps, using the null control (ompl::cont...
A boost shared pointer wrapper for ompl::base::MorseEnvironment.
A boost shared pointer wrapper for ompl::base::Path.
void setCurrentState(const base::ScopedState<> &state)
Set the current MORSE state (set parameters for MORSE bodies)