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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2025, University of Santa Cruz Hybrid Systems Laboratory</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the University of Santa Cruz nor the names of</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * its contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Beverly Xu */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "ompl/control/planners/rrt/HyRRT.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "ompl/base/StateSpace.h"</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include "ompl/control/spaces/RealVectorControlSpace.h"</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/base/spaces/HybridStateSpace.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include "ompl/control/ODESolver.h"</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keywordtype">double</span> distanceFunc(<a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state1, <a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state2)</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span>{</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keywordtype">double</span> dist = 0;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> dist = sqrt(pow(state1-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> ->as<<a class="code hl_class" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html">ompl::base::RealVectorStateSpace::StateType</a>>(0)</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> -><a class="code hl_variable" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498">values</a>[0] -</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> state2-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> ->as<<a class="code hl_class" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html">ompl::base::RealVectorStateSpace::StateType</a>>(0)</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> -><a class="code hl_variable" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498">values</a>[0],</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> 2) +</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> pow(state1-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> ->as<<a class="code hl_class" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html">ompl::base::RealVectorStateSpace::StateType</a>>(0)</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> -><a class="code hl_variable" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498">values</a>[1] -</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> state2-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> ->as<<a class="code hl_class" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html">ompl::base::RealVectorStateSpace::StateType</a>>(0)</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> -><a class="code hl_variable" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498">values</a>[1],</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> 2));</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordflow">return</span> fabs(dist);</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>}</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span><span class="keywordtype">bool</span> jumpSet(<a class="code hl_class" href="classompl_1_1control_1_1HyRRT_1_1Motion.html">ompl::control::HyRRT::Motion</a> *motion)</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span>{</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keyword">auto</span> *motion_state =</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> motion-><a class="code hl_variable" href="classompl_1_1control_1_1HyRRT_1_1Motion.html#a88aff6247327669fd2472abaedbc33fd">state</a>-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1CompoundState.html">ompl::base::CompoundState</a>>()->as<ompl::base::RealVectorStateSpace::StateType>(0);</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">double</span> velocity = motion_state->values[1];</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">double</span> pos_cur = motion_state->values[0];</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordflow">if</span> (pos_cur <= 0 && velocity <= 0)</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span>}</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span><span class="keywordtype">bool</span> flowSet(<a class="code hl_class" href="classompl_1_1control_1_1HyRRT_1_1Motion.html">ompl::control::HyRRT::Motion</a> *motion)</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span>{</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keywordflow">return</span> !jumpSet(motion);</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span>}</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span><span class="keywordtype">bool</span> unsafeSet(<a class="code hl_class" href="classompl_1_1control_1_1HyRRT_1_1Motion.html">ompl::control::HyRRT::Motion</a> *motion)</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span>{</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordtype">double</span> u = motion-><a class="code hl_variable" href="classompl_1_1control_1_1HyRRT_1_1Motion.html#a3e63eb476fee580976f794ad66d30411">control</a>-><a class="code hl_function" href="classompl_1_1control_1_1Control.html#a66d624a6bf8a2d193e1fb85e79b43055">as</a><<a class="code hl_class" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html">ompl::control::RealVectorControlSpace::ControlType</a>>()->values[0];</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordflow">if</span> (u > 5 || u < 0)</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span>}</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span><span class="keywordtype">void</span> flowODE(<span class="keyword">const</span> <a class="code hl_typedef" href="classompl_1_1control_1_1ODESolver.html#a5503d6e71f840329e7ffc905d1b1436b">ompl::control::ODESolver::StateType</a> &x_cur, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">ompl::control::Control</a> *u,</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <a class="code hl_typedef" href="classompl_1_1control_1_1ODESolver.html#a5503d6e71f840329e7ffc905d1b1436b">ompl::control::ODESolver::StateType</a> &x_new)</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span>{</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> (void)u; <span class="comment">// No control is applied when a state is in the flow set</span></div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="comment">// Ensure qdot is the same size as q. Zero out all values.</span></div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> x_new.resize(x_cur.size(), 0);</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> x_new[0] = x_cur[1]; <span class="comment">// x-dot</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> x_new[1] = x_cur[2]; <span class="comment">// v-dot</span></div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> x_new[2] = 0; <span class="comment">// a-dot</span></div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span>}</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span></div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span><a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *discreteSimulator(<a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *x_cur, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1Control.html">ompl::control::Control</a> *u,</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *new_state)</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span>{</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">double</span> velocity = -0.8 * x_cur-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> ->values[1];</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> new_state-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> ->values[0] = x_cur-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> ->values[0];</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> new_state-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> ->values[1] = velocity - u-><a class="code hl_function" href="classompl_1_1control_1_1Control.html#a66d624a6bf8a2d193e1fb85e79b43055">as</a><<a class="code hl_class" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html">ompl::control::RealVectorControlSpace::ControlType</a>>()->values[0];</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> new_state-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> ->values[2] = x_cur-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> ->values[2];</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordflow">return</span> new_state;</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span>}</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span><span class="comment">// Define goal region as a ball of radius 0.1 centered at {height, velocity} = {0, 0}</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span><span class="keyword">class </span>EuclideanGoalRegion : <span class="keyword">public</span> <a class="code hl_class" href="classompl_1_1base_1_1Goal.html">ompl::base::Goal</a></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span>{</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> EuclideanGoalRegion(<span class="keyword">const</span> ompl::base::SpaceInformationPtr &si) : ompl::base::Goal(si)</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> {</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> }</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isSatisfied(<span class="keyword">const</span> ompl::base::State *st, <span class="keywordtype">double</span> *distance)<span class="keyword"> const</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="comment">// perform any operations and return a truth value</span></div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> std::vector<double> goal = {0, 0};</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordtype">double</span> distSqr = 0;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < 2; i++)</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> {</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> distSqr +=</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> pow(st-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><ompl::base::CompoundState>()->as<<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::RealVectorStateSpace::StateType</a>>(0)->values[i] -</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> goal[i],</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> 2);</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> }</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> *distance = sqrt(distSqr);</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordflow">if</span> (*distance < 0.1)</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> }</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> </div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isSatisfied(<span class="keyword">const</span> ompl::base::State *st)<span class="keyword"> const</span></div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">double</span> distance = 0.0;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordflow">return</span> isSatisfied(st, &distance);</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> }</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span>};</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span><span class="keywordtype">int</span> main()</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span>{</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="comment">// Set the bounds of space</span></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <a class="code hl_class" href="classompl_1_1base_1_1RealVectorStateSpace.html">ompl::base::RealVectorStateSpace</a> *statespace = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1base_1_1RealVectorStateSpace.html">ompl::base::RealVectorStateSpace</a>(0);</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> statespace-><a class="code hl_function" href="classompl_1_1base_1_1RealVectorStateSpace.html#a2893436790633b216ed31123b3cf1634">addDimension</a>(-10, 10);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> statespace-><a class="code hl_function" href="classompl_1_1base_1_1RealVectorStateSpace.html#a2893436790633b216ed31123b3cf1634">addDimension</a>(-10, 10);</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> statespace-><a class="code hl_function" href="classompl_1_1base_1_1RealVectorStateSpace.html#a2893436790633b216ed31123b3cf1634">addDimension</a>(-10, 5);</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> ompl::base::StateSpacePtr stateSpacePtr(statespace);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> </div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <a class="code hl_class" href="classompl_1_1base_1_1HybridStateSpace.html">ompl::base::HybridStateSpace</a> *hybridSpace = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1base_1_1HybridStateSpace.html">ompl::base::HybridStateSpace</a>(stateSpacePtr);</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> ompl::base::StateSpacePtr hybridSpacePtr(hybridSpace);</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="comment">// Define control space</span></div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <a class="code hl_class" href="classompl_1_1control_1_1RealVectorControlSpace.html">ompl::control::RealVectorControlSpace</a> *flowControlSpace =</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1control_1_1RealVectorControlSpace.html">ompl::control::RealVectorControlSpace</a>(hybridSpacePtr, 1);</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <a class="code hl_class" href="classompl_1_1control_1_1RealVectorControlSpace.html">ompl::control::RealVectorControlSpace</a> *jumpControlSpace =</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1control_1_1RealVectorControlSpace.html">ompl::control::RealVectorControlSpace</a>(hybridSpacePtr, 1);</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <a class="code hl_class" href="classompl_1_1base_1_1RealVectorBounds.html">ompl::base::RealVectorBounds</a> flowBounds(1);</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> flowBounds.setLow(0, 0);</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> flowBounds.setHigh(0, 0);</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> flowControlSpace-><a class="code hl_function" href="classompl_1_1control_1_1RealVectorControlSpace.html#ab21eee94cc69d207ab578b69a423660c">setBounds</a>(flowBounds);</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> </div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <a class="code hl_class" href="classompl_1_1base_1_1RealVectorBounds.html">ompl::base::RealVectorBounds</a> jumpBounds(1);</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> jumpBounds.setLow(0, 0);</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> jumpBounds.setHigh(0, 5);</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> jumpControlSpace-><a class="code hl_function" href="classompl_1_1control_1_1RealVectorControlSpace.html#ab21eee94cc69d207ab578b69a423660c">setBounds</a>(jumpBounds);</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_class" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html">ompl::control::RealVectorControlUniformSampler</a> flowControlSampler(flowControlSpace);</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> flowControlSpace-><a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#aff9f2582768673ba3c2091c960294115">setControlSamplerAllocator</a>(</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> [](<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1ControlSpace.html">ompl::control::ControlSpace</a> *space) -> ompl::control::ControlSamplerPtr</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> { <span class="keywordflow">return</span> std::make_shared<ompl::control::RealVectorControlUniformSampler>(space); });</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> </div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <a class="code hl_class" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html">ompl::control::RealVectorControlUniformSampler</a> jumpControlSampler(</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> jumpControlSpace); <span class="comment">// Doesn't do anything because the bounds for jump input are just [0, 0], but here for</span></div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="comment">// demonstration</span></div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> jumpControlSpace-><a class="code hl_function" href="classompl_1_1control_1_1ControlSpace.html#aff9f2582768673ba3c2091c960294115">setControlSamplerAllocator</a>(</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> [](<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1ControlSpace.html">ompl::control::ControlSpace</a> *space) -> ompl::control::ControlSamplerPtr</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> { <span class="keywordflow">return</span> std::make_shared<ompl::control::RealVectorControlUniformSampler>(space); });</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> ompl::control::ControlSpacePtr flowControlSpacePtr(flowControlSpace);</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> ompl::control::ControlSpacePtr jumpControlSpacePtr(jumpControlSpace);</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <a class="code hl_class" href="classompl_1_1control_1_1CompoundControlSpace.html">ompl::control::CompoundControlSpace</a> *controlSpace = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1control_1_1CompoundControlSpace.html">ompl::control::CompoundControlSpace</a>(hybridSpacePtr);</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> controlSpace-><a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a97f6c0cb2ae71155e710fedf64f07c70">addSubspace</a>(flowControlSpacePtr);</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> controlSpace-><a class="code hl_function" href="classompl_1_1control_1_1CompoundControlSpace.html#a97f6c0cb2ae71155e710fedf64f07c70">addSubspace</a>(jumpControlSpacePtr);</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> ompl::control::ControlSpacePtr controlSpacePtr(controlSpace);</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> </div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="comment">// Construct a space information instance for this state space</span></div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> ompl::control::SpaceInformationPtr si(<span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1control_1_1SpaceInformation.html">ompl::control::SpaceInformation</a>(hybridSpacePtr, controlSpacePtr));</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> ompl::control::ODESolverPtr odeSolver(<span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1control_1_1ODEBasicSolver.html">ompl::control::ODEBasicSolver<></a>(si, &flowODE));</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> </div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> si->setStatePropagator(<a class="code hl_function" href="classompl_1_1control_1_1ODESolver.html#a78bf19ebd7fe10d724db7d22d51e5ec5">ompl::control::ODESolver::getStatePropagator</a>(odeSolver));</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> si->setPropagationStepSize(0.01);</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> si->setup();</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> </div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="comment">// Set start state to be 1 unit above the floor with zero velocity and gravitaional acceleration of 9.81</span></div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <a class="code hl_class" href="classompl_1_1base_1_1ScopedState.html">ompl::base::ScopedState<></a> start(hybridSpacePtr);</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> start->as<<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> ->values[0] = 1;</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> start->as<<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> ->values[1] = 0;</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> start->as<<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::HybridStateSpace::StateType</a>>()</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> ->as<ompl::base::RealVectorStateSpace::StateType>(0)</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> ->values[2] = -9.81;</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> </div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="comment">// Set goal state to be on floor with a zero velocity, and tolerance of 0.1</span></div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> std::shared_ptr<EuclideanGoalRegion> goal = std::make_shared<EuclideanGoalRegion>(si);</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="comment">// Create a problem instance</span></div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> ompl::base::ProblemDefinitionPtr pdef(<span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1base_1_1ProblemDefinition.html">ompl::base::ProblemDefinition</a>(si));</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> </div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="comment">// Set the start and goal states</span></div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> pdef->addStartState(start);</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> pdef->setGoal(goal);</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <a class="code hl_class" href="classompl_1_1control_1_1HyRRT.html">ompl::control::HyRRT</a> cHyRRT(si);</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="comment">// Set the problem instance for our planner to solve</span></div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> cHyRRT.setProblemDefinition(pdef);</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> cHyRRT.setup();</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="comment">// Set parameters</span></div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> cHyRRT.setDiscreteSimulator(discreteSimulator);</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> cHyRRT.setDistanceFunction(distanceFunc);</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> cHyRRT.setFlowSet(flowSet);</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> cHyRRT.setJumpSet(jumpSet);</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> cHyRRT.setTm(0.5);</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> cHyRRT.setFlowStepDuration(0.01);</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> cHyRRT.setUnsafeSet(unsafeSet);</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> </div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="comment">// attempt to solve the planning problem within 2 seconds</span></div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <a class="code hl_typedef" href="namespaceompl_1_1time.html#a217fd988fc9b3192af36c37613d51a39">ompl::time::point</a> t0 = <a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a>();</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> solved = cHyRRT.solve(<a class="code hl_function" href="namespaceompl_1_1base.html#ae26e5f143063be389fba4906d438a381">ompl::base::timedPlannerTerminationCondition</a>(2));</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keywordtype">double</span> planTime = <a class="code hl_function" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">ompl::time::seconds</a>(<a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a>() - t0);</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> </div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keywordflow">if</span> (solved) <span class="comment">// If either approximate or exact solution has beenf ound</span></div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Solution found in %f seconds"</span>, planTime);</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Solution status: %s"</span>, solved.<a class="code hl_function" href="structompl_1_1base_1_1PlannerStatus.html#ac9bdc9db7d5325710fb9ac74d27900ad">asString</a>().c_str());</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> </div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="comment">// print path</span></div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> pdef->getSolutionPath()->as<<a class="code hl_class" href="classompl_1_1control_1_1PathControl.html">ompl::control::PathControl</a>>()->printAsMatrix(std::cout);</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span>}</div>
<div class="ttc" id="aclassompl_1_1base_1_1CompoundState_html"><div class="ttname"><a href="classompl_1_1base_1_1CompoundState.html">ompl::base::CompoundState</a></div><div class="ttdoc">Definition of a compound state.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00086">State.h:87</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Goal_html"><div class="ttname"><a href="classompl_1_1base_1_1Goal.html">ompl::base::Goal</a></div><div class="ttdoc">Abstract definition of goals.</div><div class="ttdef"><b>Definition</b> <a href="Goal_8h_source.html#l00062">Goal.h:63</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1HybridStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1HybridStateSpace.html">ompl::base::HybridStateSpace</a></div><div class="ttdoc">A state space consisting of a space and a time component.</div><div class="ttdef"><b>Definition</b> <a href="HybridStateSpace_8h_source.html#l00050">HybridStateSpace.h:51</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProblemDefinition_html"><div class="ttname"><a href="classompl_1_1base_1_1ProblemDefinition.html">ompl::base::ProblemDefinition</a></div><div class="ttdoc">Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...</div><div class="ttdef"><b>Definition</b> <a href="ProblemDefinition_8h_source.html#l00151">ProblemDefinition.h:152</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorBounds_html"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorBounds.html">ompl::base::RealVectorBounds</a></div><div class="ttdoc">The lower and upper bounds for an Rn space.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorBounds_8h_source.html#l00047">RealVectorBounds.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html">ompl::base::RealVectorStateSpace::StateType</a></div><div class="ttdoc">The definition of a state in Rn.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorStateSpace_8h_source.html#l00077">RealVectorStateSpace.h:78</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorStateSpace_1_1StateType_html_a916575eb76687da3b47a2d9699128498"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498">ompl::base::RealVectorStateSpace::StateType::values</a></div><div class="ttdeci">double * values</div><div class="ttdoc">The value of the actual vector in Rn.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorStateSpace_8h_source.html#l00097">RealVectorStateSpace.h:97</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorStateSpace.html">ompl::base::RealVectorStateSpace</a></div><div class="ttdoc">A state space representing Rn. The distance function is the L2 norm.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorStateSpace_8h_source.html#l00073">RealVectorStateSpace.h:74</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorStateSpace_html_a2893436790633b216ed31123b3cf1634"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorStateSpace.html#a2893436790633b216ed31123b3cf1634">ompl::base::RealVectorStateSpace::addDimension</a></div><div class="ttdeci">void addDimension(double minBound=0.0, double maxBound=0.0)</div><div class="ttdoc">Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this add...</div><div class="ttdef"><b>Definition</b> <a href="RealVectorStateSpace_8cpp_source.html#l00112">RealVectorStateSpace.cpp:112</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ScopedState_html"><div class="ttname"><a href="classompl_1_1base_1_1ScopedState.html">ompl::base::ScopedState</a></div><div class="ttdoc">Definition of a scoped state.</div><div class="ttdef"><b>Definition</b> <a href="ScopedState_8h_source.html#l00056">ScopedState.h:57</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a358860aabda701b73fb0fe01cbdfb0d3"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::StateSpace::StateType</a></div><div class="ttdeci">ompl::base::State StateType</div><div class="ttdoc">Define the type of state allocated by this space.</div><div class="ttdef"><b>Definition</b> <a href="StateSpace_8h_source.html#l00078">StateSpace.h:78</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00049">State.h:50</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html_af1b51b919c418c1625ed42a3c36f2be2"><div class="ttname"><a href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">ompl::base::State::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00066">State.h:66</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html">ompl::control::CompoundControlSpace</a></div><div class="ttdoc">A control space to allow the composition of control spaces.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8h_source.html#l00201">ControlSpace.h:202</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSpace_html_a97f6c0cb2ae71155e710fedf64f07c70"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSpace.html#a97f6c0cb2ae71155e710fedf64f07c70">ompl::control::CompoundControlSpace::addSubspace</a></div><div class="ttdeci">virtual void addSubspace(const ControlSpacePtr &component)</div><div class="ttdoc">Adds a control space as a component of the compound control space.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00143">ControlSpace.cpp:143</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html">ompl::control::ControlSpace</a></div><div class="ttdoc">A control space representing the space of applicable controls.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8h_source.html#l00063">ControlSpace.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSpace_html_aff9f2582768673ba3c2091c960294115"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html#aff9f2582768673ba3c2091c960294115">ompl::control::ControlSpace::setControlSamplerAllocator</a></div><div class="ttdeci">void setControlSamplerAllocator(const ControlSamplerAllocator &csa)</div><div class="ttdoc">Set the sampler allocator to use.</div><div class="ttdef"><b>Definition</b> <a href="ControlSpace_8cpp_source.html#l00093">ControlSpace.cpp:93</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Control_html"><div class="ttname"><a href="classompl_1_1control_1_1Control.html">ompl::control::Control</a></div><div class="ttdoc">Definition of an abstract control.</div><div class="ttdef"><b>Definition</b> <a href="Control_8h_source.html#l00047">Control.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Control_html_a66d624a6bf8a2d193e1fb85e79b43055"><div class="ttname"><a href="classompl_1_1control_1_1Control.html#a66d624a6bf8a2d193e1fb85e79b43055">ompl::control::Control::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition</b> <a href="Control_8h_source.html#l00064">Control.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1HyRRT_1_1Motion_html"><div class="ttname"><a href="classompl_1_1control_1_1HyRRT_1_1Motion.html">ompl::control::HyRRT::Motion</a></div><div class="ttdoc">Representation of a motion in the search tree.</div><div class="ttdef"><b>Definition</b> <a href="HyRRT_8h_source.html#l00099">HyRRT.h:100</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1HyRRT_1_1Motion_html_a3e63eb476fee580976f794ad66d30411"><div class="ttname"><a href="classompl_1_1control_1_1HyRRT_1_1Motion.html#a3e63eb476fee580976f794ad66d30411">ompl::control::HyRRT::Motion::control</a></div><div class="ttdeci">control::Control * control</div><div class="ttdoc">The control contained by the motion.</div><div class="ttdef"><b>Definition</b> <a href="HyRRT_8h_source.html#l00128">HyRRT.h:128</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1HyRRT_1_1Motion_html_a88aff6247327669fd2472abaedbc33fd"><div class="ttname"><a href="classompl_1_1control_1_1HyRRT_1_1Motion.html#a88aff6247327669fd2472abaedbc33fd">ompl::control::HyRRT::Motion::state</a></div><div class="ttdeci">base::State * state</div><div class="ttdoc">The state contained by the motion.</div><div class="ttdef"><b>Definition</b> <a href="HyRRT_8h_source.html#l00114">HyRRT.h:114</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1HyRRT_html"><div class="ttname"><a href="classompl_1_1control_1_1HyRRT.html">ompl::control::HyRRT</a></div><div class="ttdoc">Hybrid Rapidly-exploring Random Trees.</div><div class="ttdef"><b>Definition</b> <a href="HyRRT_8h_source.html#l00076">HyRRT.h:77</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ODEBasicSolver_html"><div class="ttname"><a href="classompl_1_1control_1_1ODEBasicSolver.html">ompl::control::ODEBasicSolver</a></div><div class="ttdoc">Basic solver for ordinary differential equations of the type q' = f(q, u), where q is the current sta...</div><div class="ttdef"><b>Definition</b> <a href="ODESolver_8h_source.html#l00199">ODESolver.h:200</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ODESolver_html_a5503d6e71f840329e7ffc905d1b1436b"><div class="ttname"><a href="classompl_1_1control_1_1ODESolver.html#a5503d6e71f840329e7ffc905d1b1436b">ompl::control::ODESolver::StateType</a></div><div class="ttdeci">std::vector< double > StateType</div><div class="ttdoc">Portable data type for the state values.</div><div class="ttdef"><b>Definition</b> <a href="ODESolver_8h_source.html#l00077">ODESolver.h:77</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ODESolver_html_a78bf19ebd7fe10d724db7d22d51e5ec5"><div class="ttname"><a href="classompl_1_1control_1_1ODESolver.html#a78bf19ebd7fe10d724db7d22d51e5ec5">ompl::control::ODESolver::getStatePropagator</a></div><div class="ttdeci">static StatePropagatorPtr getStatePropagator(ODESolverPtr solver, const PostPropagationEvent &postEvent=nullptr)</div><div class="ttdoc">Retrieve a StatePropagator object that solves a system of ordinary differential equations defined by ...</div><div class="ttdef"><b>Definition</b> <a href="ODESolver_8h_source.html#l00127">ODESolver.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1PathControl_html"><div class="ttname"><a href="classompl_1_1control_1_1PathControl.html">ompl::control::PathControl</a></div><div class="ttdoc">Definition of a control path.</div><div class="ttdef"><b>Definition</b> <a href="PathControl_8h_source.html#l00060">PathControl.h:61</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1RealVectorControlSpace_1_1ControlType_html"><div class="ttname"><a href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html">ompl::control::RealVectorControlSpace::ControlType</a></div><div class="ttdoc">The definition of a control in Rn.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorControlSpace_8h_source.html#l00065">RealVectorControlSpace.h:66</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1RealVectorControlSpace_html"><div class="ttname"><a href="classompl_1_1control_1_1RealVectorControlSpace.html">ompl::control::RealVectorControlSpace</a></div><div class="ttdoc">A control space representing Rn.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorControlSpace_8h_source.html#l00061">RealVectorControlSpace.h:62</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1RealVectorControlSpace_html_ab21eee94cc69d207ab578b69a423660c"><div class="ttname"><a href="classompl_1_1control_1_1RealVectorControlSpace.html#ab21eee94cc69d207ab578b69a423660c">ompl::control::RealVectorControlSpace::setBounds</a></div><div class="ttdeci">void setBounds(const base::RealVectorBounds &bounds)</div><div class="ttdoc">Set the bounds (min max values for each dimension) for the control.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorControlSpace_8cpp_source.html#l00058">RealVectorControlSpace.cpp:58</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1RealVectorControlUniformSampler_html"><div class="ttname"><a href="classompl_1_1control_1_1RealVectorControlUniformSampler.html">ompl::control::RealVectorControlUniformSampler</a></div><div class="ttdoc">Uniform sampler for the Rn state space.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorControlSpace_8h_source.html#l00049">RealVectorControlSpace.h:50</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1SpaceInformation_html"><div class="ttname"><a href="classompl_1_1control_1_1SpaceInformation.html">ompl::control::SpaceInformation</a></div><div class="ttdoc">Space information containing necessary information for planning with controls. setup() needs to be ca...</div><div class="ttdef"><b>Definition</b> <a href="control_2SpaceInformation_8h_source.html#l00070">SpaceInformation.h:71</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_ae26e5f143063be389fba4906d438a381"><div class="ttname"><a href="namespaceompl_1_1base.html#ae26e5f143063be389fba4906d438a381">ompl::base::timedPlannerTerminationCondition</a></div><div class="ttdeci">PlannerTerminationCondition timedPlannerTerminationCondition(double duration)</div><div class="ttdoc">Return a termination condition that will become true duration seconds in the future (wall-time).</div><div class="ttdef"><b>Definition</b> <a href="PlannerTerminationCondition_8cpp_source.html#l00201">PlannerTerminationCondition.cpp:201</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a217fd988fc9b3192af36c37613d51a39"><div class="ttname"><a href="namespaceompl_1_1time.html#a217fd988fc9b3192af36c37613d51a39">ompl::time::point</a></div><div class="ttdeci">std::chrono::system_clock::time_point point</div><div class="ttdoc">Representation of a point in time.</div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00052">Time.h:52</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a5da903c529cfbbce79900b7c1cbc6cc3"><div class="ttname"><a href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a></div><div class="ttdeci">point now()</div><div class="ttdoc">Get the current time point.</div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00058">Time.h:58</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_acac374ab4374adb207edb38cedb7fbb1"><div class="ttname"><a href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">ompl::time::seconds</a></div><div class="ttdeci">duration seconds(double sec)</div><div class="ttdoc">Return the time duration representing a given number of seconds.</div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00064">Time.h:64</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve().</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00048">PlannerStatus.h:49</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_ac9bdc9db7d5325710fb9ac74d27900ad"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#ac9bdc9db7d5325710fb9ac74d27900ad">ompl::base::PlannerStatus::asString</a></div><div class="ttdeci">std::string asString() const</div><div class="ttdoc">Return a string representation.</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8cpp_source.html#l00039">PlannerStatus.cpp:39</a></div></div>
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