SimpleSetup.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
A shared pointer wrapper for ompl::geometric::PathSimplifier.
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:63
PathGeometric & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition: SimpleSetup.cpp:201
double simplifyTime_
The amount of time the last path simplification step took.
Definition: SimpleSetup.h:303
double getLastSimplificationTime() const
Get the amount of time (in seconds) spend during the last path simplification step.
Definition: SimpleSetup.h:253
base::PlannerStatus lastStatus_
The status of the last planning request.
Definition: SimpleSetup.h:306
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for up to a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:116
base::ProblemDefinitionPtr & getProblemDefinition()
Get the current instance of the problem definition.
Definition: SimpleSetup.h:86
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Definition: SimpleSetup.h:141
const std::string getSolutionPlannerName() const
Get the best solution's planer name. Throw an exception if no solution is available.
Definition: SimpleSetup.cpp:187
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:297
void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
Set the start and goal states to use.
Definition: SimpleSetup.cpp:85
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
Definition: SimpleSetup.cpp:212
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
Definition: SimpleSetup.cpp:219
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:163
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
Definition: SimpleSetup.cpp:77
void simplifySolution(double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification p...
Definition: SimpleSetup.cpp:164
SimpleSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition: SimpleSetup.cpp:40
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
Definition: SimpleSetup.cpp:104
const PathSimplifierPtr & getPathSimplifier() const
Get the path simplifier.
Definition: SimpleSetup.h:122
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful)....
Definition: SimpleSetup.h:148
const base::PlannerAllocator & getPlannerAllocator() const
Get the planner allocator.
Definition: SimpleSetup.h:116
const base::OptimizationObjectivePtr & getOptimizationObjective() const
Get the optimization objective to use.
Definition: SimpleSetup.h:134
void setPlanner(const base::PlannerPtr &planner)
Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator....
Definition: SimpleSetup.h:216
double getLastPlanComputationTime() const
Get the amount of time (in seconds) spent during the last planning step.
Definition: SimpleSetup.h:247
void setPlannerAllocator(const base::PlannerAllocator &pa)
Set the planner allocator to use. This is only used if no planner has been set. This is optional – a ...
Definition: SimpleSetup.h:227
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:175
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:92
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the current instance of the problem definition.
Definition: SimpleSetup.h:80
void addStartState(const base::ScopedState<> &state)
Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...
Definition: SimpleSetup.h:186
void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:169
base::PlannerStatus getLastPlannerStatus() const
Return the status of the last planning attempt.
Definition: SimpleSetup.h:241
const base::StateValidityCheckerPtr & getStateValidityChecker() const
Get the current instance of the state validity checker.
Definition: SimpleSetup.h:98
void setStartState(const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.
Definition: SimpleSetup.h:198
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:54
void setGoalState(const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
Definition: SimpleSetup.cpp:96
const base::SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:74
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:444
std::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...
Definition: SpaceInformation.h:76
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49