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| DoubleIntegratorControlSpace (const std::shared_ptr< CSet > &uset, Real dtmax) |
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virtual std::string | VariableName (int i) |
| Returns an identifier for the i'th control variable.
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virtual InterpolatorPtr | Simulate (const State &x0, const ControlInput &u) |
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virtual void | Successor (const State &x0, const ControlInput &u, State &x1) |
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virtual void | Derivative (const State &x, const ControlInput &u, State &dx) |
| Compute dx=x'=g(x,u)
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void | EvalDynamics (const State &x0, const ControlInput &ddx, Real t, State &x1) |
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| IntegratedControlSpace (const std::shared_ptr< CSet > &fControlSet, Real dt=0.01, Real dtmax=0.1) |
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| IntegratedControlSpace (DynamicsFn f, const std::shared_ptr< CSet > &fControlSet, Real dt=0.01, Real dtmax=0.1) |
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void | SetGeodesicSpace (GeodesicSpace *space) |
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void | SetBaseControlSet (std::shared_ptr< CSet > baseControlSet) |
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std::shared_ptr< CSet > | GetBaseControlSet () |
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virtual std::shared_ptr< CSet > | GetControlSet (const Config &x) |
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virtual void | UpdateIntegrationParameters (const State &x) |
| Update controlSpace, dt, or dtmax if state-dependent.
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virtual std::shared_ptr< CSet > | GetControlSet (const State &x) |
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virtual std::shared_ptr< SteeringFunction > | GetSteeringFunction () |
| Returns this space's steering function, if available.
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virtual Math::VectorFieldFunction * | SuccessorNumeric () |
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virtual void | SampleControl (const State &x, ControlInput &u) |
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virtual bool | IsValidControl (const State &x, const ControlInput &u) |
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