KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
DoubleIntegratorKinodynamicSpace Class Reference

a space that combines configuration and velocity in the state x=(q,v), and is controlled by acceleration v' = a. The control u = (dt,a) is composed of a time step and acceleration. More...

#include <DoubleIntegrator.h>

Inheritance diagram for DoubleIntegratorKinodynamicSpace:
KinodynamicSpace

Public Member Functions

 DoubleIntegratorKinodynamicSpace (std::shared_ptr< CSpace > qspace, std::shared_ptr< CSpace > dqspace, std::shared_ptr< CSet > ddqset, Real dtmax)
 
virtual EdgePlannerPtr TrajectoryChecker (const ControlInput &u, const std::shared_ptr< Interpolator > &path)
 
void SetVisibilityEpsilon (Real tol)
 
- Public Member Functions inherited from KinodynamicSpace
 KinodynamicSpace (const std::shared_ptr< CSpace > &xspace, const std::shared_ptr< ControlSpace > &uspace)
 
std::shared_ptr< ControlSpaceGetControlSpace () const
 
std::shared_ptr< CSpaceGetStateSpace () const
 
std::shared_ptr< CSetGetControlSet (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

Real visibilityEpsilon
 
- Public Attributes inherited from KinodynamicSpace
std::shared_ptr< CSpacestateSpace
 
std::shared_ptr< ControlSpacecontrolSpace
 

Detailed Description

a space that combines configuration and velocity in the state x=(q,v), and is controlled by acceleration v' = a. The control u = (dt,a) is composed of a time step and acceleration.

The timestep dt is drawn from the range [0,dtmax].

Integration and interpolation are exact. Path checking is inexact and just discretizes a path up to a given tolerance

Member Function Documentation

EdgePlannerPtr DoubleIntegratorKinodynamicSpace::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.

References ParabolicRamp::ParabolicRampND::endTime, and ParabolicRamp::ParabolicRampND::x0.


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