PathControl.h
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 l...
Definition: PathControl.h:165
Control * getControl(unsigned int index)
Get the control located at index along the path. This is the control that gets applied to the state l...
Definition: PathControl.h:159
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 no...
Definition: PathControl.h:129
std::vector< Control * > & getControls()
Get the controls that make up the path (as a reference, so it can be modified, hence the function is ...
Definition: PathControl.h:135
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition: PathControl.h:147
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
Definition: PathControl.h:153
A boost shared pointer wrapper for ompl::base::SpaceInformation.
std::size_t getControlCount() const
Get the number of controls applied along this path. This should be equal to getStateCount() - 1 unles...
Definition: PathControl.h:183
std::vector< double > controlDurations_
The duration of the control applied at each state. This array contains one element less than the list...
Definition: PathControl.h:199
A boost shared pointer wrapper for ompl::base::OptimizationObjective.
std::vector< base::State * > states_
The list of states that make up the path.
Definition: PathControl.h:193
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)
Definition: PathControl.h:141
double getControlDuration(unsigned int index) const
Get the duration of the control at index, which gets applied to the state at index.
Definition: PathControl.h:171
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition: PathControl.h:177
std::vector< Control * > controls_
The control applied at each state. This array contains one element less than the list of states...
Definition: PathControl.h:196
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47