ompl::control::OpenDEStateSpace::OpenDEStateSpace(OpenDEEnvironmentPtr env, double positionWeight, double linVelWeight, double angVelWeight, double orientationWeight) : env_(std::move(env)) { setName("OpenDE" + getName()); type_ = base::STATE_SPACE_TYPE_COUNT + 1; for (unsigned int i = 0; i < env_->stateBodies_.size(); ++i) { std::string body = ":B" + std::to_string(i); addSubspace(std::make_shared<base::RealVectorStateSpace>(3), positionWeight); // position components_.back()->setName(components_.back()->getName() + body + ":position"); addSubspace(std::make_shared<base::RealVectorStateSpace>(3), linVelWeight); // linear velocity components_.back()->setName(components_.back()->getName() + body + ":linvel"); addSubspace(std::make_shared<base::RealVectorStateSpace>(3), angVelWeight); // angular velocity components_.back()->setName(components_.back()->getName() + body + ":angvel"); addSubspace(std::make_shared<base::SO3StateSpace>(), orientationWeight); // orientation components_.back()->setName(components_.back()->getName() + body + ":orientation"); } lock(); setDefaultBounds(); }
ompl::control::OpenDEStateSpace::OpenDEStateSpace(const OpenDEEnvironmentPtr &env, double positionWeight, double linVelWeight, double angVelWeight, double orientationWeight) : base::CompoundStateSpace(), env_(env) { setName("OpenDE" + getName()); type_ = base::STATE_SPACE_TYPE_COUNT + 1; for (unsigned int i = 0 ; i < env_->stateBodies_.size() ; ++i) { std::string body = ":B" + boost::lexical_cast<std::string>(i); addSubspace(base::StateSpacePtr(new base::RealVectorStateSpace(3)), positionWeight); // position components_.back()->setName(components_.back()->getName() + body + ":position"); addSubspace(base::StateSpacePtr(new base::RealVectorStateSpace(3)), linVelWeight); // linear velocity components_.back()->setName(components_.back()->getName() + body + ":linvel"); addSubspace(base::StateSpacePtr(new base::RealVectorStateSpace(3)), angVelWeight); // angular velocity components_.back()->setName(components_.back()->getName() + body + ":angvel"); addSubspace(base::StateSpacePtr(new base::SO3StateSpace()), orientationWeight); // orientation components_.back()->setName(components_.back()->getName() + body + ":orientation"); } lock(); setDefaultBounds(); }
void MediaPlayer::setDefaultProperties(){ mAnimDuration = 0.35f; mContentAspectRatio = 1.0; mLayoutFixedAspect = true; setDefaultBounds(mEngine.getWorldWidth(), mEngine.getWorldHeight()); setWebViewSize(ci::Vec2f::zero()); setCacheImages(false); }