#include <ompl_solver.h>

Inheritance diagram for exotica::OMPLSolver< ProblemType >:

[legend]

Public Member Functions
double	GetLongestValidSegmentLength () const

double	GetMaximumExtent () const

int	GetRandomSeed () const

unsigned int	GetValidSegmentCountFactor () const

	OMPLSolver ()

void	SetLongestValidSegmentFraction (double segmentFraction)

void	SetValidSegmentCountFactor (unsigned int factor)

void	Solve (Eigen::MatrixXd &solution) override

void	SpecifyProblem (PlanningProblemPtr pointer) override

virtual	~OMPLSolver ()

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
void	GetPath (Eigen::MatrixXd &traj, ompl::base::PlannerTerminationCondition &ptc)

void	PostSolve ()

void	PreSolve ()

void	SetGoalState (Eigen::VectorXdRefConst qT, const double eps=0)

Static Protected Member Functions
template<typename T >
static ompl::base::PlannerPtr	AllocatePlanner (const ompl::base::SpaceInformationPtr &si, const std::string &new_name)

Protected Attributes
std::string	algorithm_

std::vector< double >	bounds_

OMPLSolverInitializer	init_

bool	multi_query_ = false

ompl::geometric::SimpleSetupPtr	ompl_simple_setup_

ConfiguredPlannerAllocator	planner_allocator_

std::shared_ptr< ProblemType >	prob_

ompl::base::StateSpacePtr	state_space_

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

template<class ProblemType>
class exotica::OMPLSolver< ProblemType >

Definition at line 59 of file ompl_solver.h.

Constructor & Destructor Documentation

template<class ProblemType >

exotica::OMPLSolver< ProblemType >::OMPLSolver ( )

default

template<class ProblemType >

exotica::OMPLSolver< ProblemType >::~OMPLSolver ( )

virtualdefault

Member Function Documentation

template<class ProblemType>

template<typename T >

static ompl::base::PlannerPtr exotica::OMPLSolver< ProblemType >::AllocatePlanner	(	const ompl::base::SpaceInformationPtr &	si,
		const std::string &	new_name
	)

inlinestaticprotected

Definition at line 79 of file ompl_solver.h.

template<class ProblemType>

double exotica::OMPLSolver< ProblemType >::GetLongestValidSegmentLength ( ) const

inline

Definition at line 72 of file ompl_solver.h.

template<class ProblemType>

double exotica::OMPLSolver< ProblemType >::GetMaximumExtent ( ) const

inline

Definition at line 71 of file ompl_solver.h.

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::GetPath	(	Eigen::MatrixXd &	traj,
		ompl::base::PlannerTerminationCondition &	ptc
	)

protected

Definition at line 143 of file ompl_solver.cpp.

template<class ProblemType >

int exotica::OMPLSolver< ProblemType >::GetRandomSeed ( ) const

Definition at line 83 of file ompl_solver.cpp.

template<class ProblemType>

unsigned int exotica::OMPLSolver< ProblemType >::GetValidSegmentCountFactor ( ) const

inline

Definition at line 75 of file ompl_solver.h.

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::PostSolve ( )

protected

Definition at line 104 of file ompl_solver.cpp.

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::PreSolve ( )

protected

Definition at line 89 of file ompl_solver.cpp.

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::SetGoalState	(	Eigen::VectorXdRefConst	qT,
		const double	eps = `0`
	)

protected

Definition at line 116 of file ompl_solver.cpp.

template<class ProblemType>

void exotica::OMPLSolver< ProblemType >::SetLongestValidSegmentFraction ( double segmentFraction )

inline

Definition at line 73 of file ompl_solver.h.

template<class ProblemType>

void exotica::OMPLSolver< ProblemType >::SetValidSegmentCountFactor ( unsigned int factor )

inline

Definition at line 74 of file ompl_solver.h.

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::Solve ( Eigen::MatrixXd & solution )

overridevirtual

Implements exotica::MotionSolver.

Definition at line 195 of file ompl_solver.cpp.

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::SpecifyProblem ( PlanningProblemPtr pointer )

overridevirtual

Reimplemented from exotica::MotionSolver.

Definition at line 44 of file ompl_solver.cpp.

Member Data Documentation

template<class ProblemType>

std::string exotica::OMPLSolver< ProblemType >::algorithm_

protected

Definition at line 96 of file ompl_solver.h.

template<class ProblemType>

std::vector<double> exotica::OMPLSolver< ProblemType >::bounds_

protected

Definition at line 98 of file ompl_solver.h.

template<class ProblemType>

OMPLSolverInitializer exotica::OMPLSolver< ProblemType >::init_

protected

Definition at line 91 of file ompl_solver.h.

template<class ProblemType>

bool exotica::OMPLSolver< ProblemType >::multi_query_ = false

protected

Definition at line 97 of file ompl_solver.h.

template<class ProblemType>

ompl::geometric::SimpleSetupPtr exotica::OMPLSolver< ProblemType >::ompl_simple_setup_

protected

Definition at line 93 of file ompl_solver.h.

template<class ProblemType>

ConfiguredPlannerAllocator exotica::OMPLSolver< ProblemType >::planner_allocator_

protected

Definition at line 95 of file ompl_solver.h.

template<class ProblemType>

std::shared_ptr<ProblemType> exotica::OMPLSolver< ProblemType >::prob_

protected

Definition at line 92 of file ompl_solver.h.

template<class ProblemType>

ompl::base::StateSpacePtr exotica::OMPLSolver< ProblemType >::state_space_

protected

Definition at line 94 of file ompl_solver.h.

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class ProblemType> class exotica::OMPLSolver< ProblemType >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class ProblemType>
class exotica::OMPLSolver< ProblemType >