QuotientSpacePlanningHyperCube.cpp
88 void addPlanner(ompl::tools::Benchmark &benchmark, const ompl::base::PlannerPtr &planner, double range)
96 ob::PlannerPtr GetQRRT(ob::SpaceInformationPtr si, ob::ProblemDefinitionPtr pdef, unsigned int numLinks)
139 ss.setStateValidityChecker(std::make_shared<HyperCubeValidityChecker>(ss.getSpaceInformation(), ndim));
154 ob::PlannerPtr quotientSpacePlanner = GetQRRT(ss.getSpaceInformation(), ss.getProblemDefinition(), ndim);
bool hasParam(const std::string &key) const
Check whether this set of parameters includes the parameter named key.
Definition: GenericParam.cpp:186
bool setParam(const std::string &key, const std::string &value)
Algorithms in OMPL often have parameters that can be set externally. While each algorithm will have t...
Definition: GenericParam.cpp:114
A shared pointer wrapper for ompl::base::Planner.
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
The definition of a state in Rn
Definition: RealVectorStateSpace.h:78
A shared pointer wrapper for ompl::base::SpaceInformation.
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition: StateValidityChecker.h:91
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking....
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:63
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53
std::string toString(float val)
convert float to string using classic "C" locale semantics
Definition: String.cpp:82