exotica::OMPLControlSolver Class Reference

#include <ompl_control_solver.h>

Inheritance diagram for exotica::OMPLControlSolver:

Public Member Functions
void	Solve (Eigen::MatrixXd &solution) override
	Solves the problem. More...
void	SpecifyProblem (PlanningProblemPtr pointer) override
	Binds the solver to a specific problem which must be pre-initalised. More...
Public Member Functions inherited from exotica::MotionSolver
int	GetNumberOfMaxIterations ()
double	GetPlanningTime ()
PlanningProblemPtr	GetProblem () const
void	InstantiateBase (const Initializer &init) override
	MotionSolver ()=default
std::string	Print (const std::string &prepend) const override
void	SetNumberOfMaxIterations (int max_iter)
virtual	~MotionSolver ()=default
Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()
void	InstantiateObject (const Initializer &init)
	Object ()
virtual std::string	type () const
virtual	~Object ()
Public Member Functions inherited from exotica::InstantiableBase
virtual std::vector< Initializer >	GetAllTemplates () const =0
virtual Initializer	GetInitializerTemplate ()=0
	InstantiableBase ()=default
virtual void	InstantiateInternal (const Initializer &init)=0
virtual	~InstantiableBase ()=default

Protected Member Functions
bool	isStateValid (const oc::SpaceInformationPtr si, const ob::State *state)
void	Setup ()

Static Protected Member Functions
template<typename PlannerType >
static ob::PlannerPtr	AllocatePlanner (const oc::SpaceInformationPtr &si)

Protected Attributes
std::string	algorithm_
DynamicsSolverPtr	dynamics_solver_
	!< Shared pointer to the planning problem. More...
OMPLControlSolverInitializer	init_
	!< Shared pointer to the dynamics solver. More...
ConfiguredPlannerAllocator	planner_allocator_
DynamicTimeIndexedShootingProblemPtr	prob_
std::unique_ptr< oc::SimpleSetup >	setup_
Protected Attributes inherited from exotica::MotionSolver
int	max_iterations_
double	planning_time_
PlanningProblemPtr	problem_

Additional Inherited Members
Public Attributes inherited from exotica::Object
bool	debug_
std::string	ns_
std::string	object_name_

Detailed Description

Definition at line 106 of file ompl_control_solver.h.

Member Function Documentation

template<typename PlannerType >

static ob::PlannerPtr exotica::OMPLControlSolver::AllocatePlanner ( const oc::SpaceInformationPtr &  si )

inlinestaticprotected

Definition at line 120 of file ompl_control_solver.h.

bool exotica::OMPLControlSolver::isStateValid ( const oc::SpaceInformationPtr  si, const ob::State *  state  )

inlineprotected

Definition at line 137 of file ompl_control_solver.h.

void exotica::OMPLControlSolver::Setup ( )

protected

Definition at line 51 of file ompl_control_solver.cpp.

void exotica::OMPLControlSolver::Solve ( Eigen::MatrixXd &  solution )

overridevirtual

Solves the problem.

Parameters

solution

Returned solution trajectory as a vector of joint configurations.

Implements exotica::MotionSolver.

Definition at line 125 of file ompl_control_solver.cpp.

void exotica::OMPLControlSolver::SpecifyProblem ( PlanningProblemPtr  pointer )

overridevirtual

Binds the solver to a specific problem which must be pre-initalised.

Parameters

pointer

Shared pointer to the motion planning problem

Returns

Successful if the problem is a valid DynamicTimeIndexedProblem

Reimplemented from exotica::MotionSolver.

Definition at line 34 of file ompl_control_solver.cpp.

Member Data Documentation

std::string exotica::OMPLControlSolver::algorithm_

protected

Definition at line 132 of file ompl_control_solver.h.

DynamicsSolverPtr exotica::OMPLControlSolver::dynamics_solver_

protected

!< Shared pointer to the planning problem.

Definition at line 127 of file ompl_control_solver.h.

OMPLControlSolverInitializer exotica::OMPLControlSolver::init_

protected

!< Shared pointer to the dynamics solver.

Definition at line 129 of file ompl_control_solver.h.

ConfiguredPlannerAllocator exotica::OMPLControlSolver::planner_allocator_

protected

Definition at line 133 of file ompl_control_solver.h.

DynamicTimeIndexedShootingProblemPtr exotica::OMPLControlSolver::prob_

protected

Definition at line 126 of file ompl_control_solver.h.

std::unique_ptr<oc::SimpleSetup> exotica::OMPLControlSolver::setup_

protected

Definition at line 131 of file ompl_control_solver.h.

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The documentation for this class was generated from the following files:

• ompl_control_solver.h
• ompl_control_solver.cpp