Environment definition. More...
#include <libbot.h>
Public Member Functions | |
| int | set_operating_region (const region_t ®ion_in) |
| Modifies the opearting region. | |
| int | set_goal_region (const region_t ®ion_in) |
| Modifies the goal region. | |
| int | clear_obstacle_list () |
| Clears the list of obstacles and frees the memory they occupy. | |
| int | add_obstacle (const region_t ®ion_in) |
| Adds a new obstacle to the set of obstacles. | |
Friends | |
| class | interface_libbot |
Environment definition.
This class is a description of an environment that includes the following three components:
libbot_rrg_double_integrator.cpp, libbot_rrg_dubins_car.cpp, libbot_rrg_dubins_double_integrator_airplane.cpp, libbot_rrg_single_integrator.cpp, libbot_rrg_single_integrator_mu_calculus.cpp, libbot_rrt_double_integrator.cpp, libbot_rrt_dubins_car.cpp, libbot_rrt_dubins_double_integrator_airplane.cpp, libbot_rrt_single_integrator.cpp, libbot_rrtstar_double_integrator.cpp, libbot_rrtstar_dubins_car.cpp, libbot_rrtstar_dubins_double_integrator_airplane.cpp, libbot_rrtstar_single_integrator.cpp, libbot_rrtstar_single_integrator_halton.cpp, libbot_rrtstar_single_integrator_trajectory_biasing.cpp, and libbot_rrtstar_single_integrator_trajectory_biasing_and_bnb.cpp.
| int smp::interface_libbot_environment::add_obstacle | ( | const region_t & | region_in | ) |
Adds a new obstacle to the set of obstacles.
In the libbot interface, an obstacle is a rectangular box in the three dimensional Eucliean space, usuall a region where no trajectory can cross. Note that this is solely for visualization in the libbot viewer, which has a 3D visualization capability. An obstacle for the planner can be in an arbitrary number of dimensions in a fairly arbitrary space.
| region_in | New operating region (variable is not consumed). |
| int smp::interface_libbot_environment::clear_obstacle_list | ( | ) |
Clears the list of obstacles and frees the memory they occupy.
In the libbot interface, an obstacle is a rectangular box in the three dimensional Eucliean space, usuall a region where no trajectory can cross. Note that this is solely for visualization in the libbot viewer, which has a 3D visualization capability. An obstacle for the planner can be in an arbitrary number of dimensions in a fairly arbitrary space.
| int smp::interface_libbot_environment::set_goal_region | ( | const region_t & | region_in | ) |
Modifies the goal region.
In the libbot interface, the goal region is a rectangular box in the three dimesional Euclidean space, usually a box where the trajectories need to in order to accomplish the problem specification. Note that this is solely for visualization in the libbot viewer, which has a 3D visualization capability. The ``goal region'' of the planner can be in an arbitrary number of dimensions in a fairly arbitrary space.
| region_in | New operating region (variable is not consumed). |
| int smp::interface_libbot_environment::set_operating_region | ( | const region_t & | region_in | ) |
Modifies the opearting region.
In the libbot interface, the operating region is a rectangular box in the three dimesional Euclidean space, usually a bounding box for all the trajectories. Note that this is solely for visualization in the libbot viewer, which has a 3D visualization capability. The ``opearating region'' of the planner can be in an arbitrary number of dimensions in a fairly arbitrary space.
| region_in | New operating region (variable is not consumed). |
