.. _namespace_ompl__base: Namespace ompl::base ==================== This namespace contains sampling based planning routines shared by both planning under geometric constraints (geometric) and planning under differential constraints (dynamic) .. contents:: Contents :local: :backlinks: none Classes ------- - :ref:`exhale_struct_structompl_1_1base_1_1MultiOptimizationObjective_1_1Component` - :ref:`exhale_struct_structompl_1_1base_1_1PlannerDataStorage_1_1Header` - :ref:`exhale_struct_structompl_1_1base_1_1PlannerDataStorage_1_1PlannerDataEdgeData` - :ref:`exhale_struct_structompl_1_1base_1_1PlannerDataStorage_1_1PlannerDataVertexData` - :ref:`exhale_struct_structompl_1_1base_1_1PlannerSolution` - :ref:`exhale_struct_structompl_1_1base_1_1PlannerSpecs` - :ref:`exhale_struct_structompl_1_1base_1_1PlannerStatus` - :ref:`exhale_struct_structompl_1_1base_1_1SamplerSelector` - :ref:`exhale_struct_structompl_1_1base_1_1StateSpace_1_1SubstateLocation` - :ref:`exhale_struct_structompl_1_1base_1_1StateSpace_1_1ValueLocation` - :ref:`exhale_struct_structompl_1_1base_1_1StateStorage_1_1Header` - :ref:`exhale_struct_structompl_1_1base_1_1StateValidityCheckerSpecs` - :ref:`exhale_class_classompl_1_1base_1_1AllValidStateValidityChecker` - :ref:`exhale_class_classompl_1_1base_1_1AtlasChart` - :ref:`exhale_class_classompl_1_1base_1_1AtlasChart_1_1Halfspace` - :ref:`exhale_class_classompl_1_1base_1_1AtlasStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1AtlasStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1AtlasStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1BridgeTestValidStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1CForestStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1CForestStateSpaceWrapper` - :ref:`exhale_class_classompl_1_1base_1_1CompoundState` - :ref:`exhale_class_classompl_1_1base_1_1CompoundStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1CompoundStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1ConditionalStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1ConditionalStateSampler_1_1Motion` - :ref:`exhale_class_classompl_1_1base_1_1ConstrainedMotionValidator` - :ref:`exhale_class_classompl_1_1base_1_1ConstrainedSpaceInformation` - :ref:`exhale_class_classompl_1_1base_1_1ConstrainedStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1ConstrainedValidStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1Constraint` - :ref:`exhale_class_classompl_1_1base_1_1ConstraintIntersection` - :ref:`exhale_class_classompl_1_1base_1_1ConstraintObjective` - :ref:`exhale_class_classompl_1_1base_1_1ConstraintPtr` - :ref:`exhale_class_classompl_1_1base_1_1ControlDurationObjective` - :ref:`exhale_class_classompl_1_1base_1_1Cost` - :ref:`exhale_class_classompl_1_1base_1_1CostConvergenceTerminationCondition` - :ref:`exhale_class_classompl_1_1base_1_1DeterministicSequence` - :ref:`exhale_class_classompl_1_1base_1_1DeterministicStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1DiscreteMotionValidator` - :ref:`exhale_class_classompl_1_1base_1_1DiscreteStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1DiscreteStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1DiscreteStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1Dubins3DMotionValidator` - :ref:`exhale_class_classompl_1_1base_1_1DubinsMotionValidator` - :ref:`exhale_class_classompl_1_1base_1_1DubinsStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1DubinsStateSpace_1_1PathType` - :ref:`exhale_class_classompl_1_1base_1_1EmptyStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1GaussianValidStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1GenericParam` - :ref:`exhale_class_classompl_1_1base_1_1Goal` - :ref:`exhale_class_classompl_1_1base_1_1GoalLazySamples` - :ref:`exhale_class_classompl_1_1base_1_1GoalPtr` - :ref:`exhale_class_classompl_1_1base_1_1GoalRegion` - :ref:`exhale_class_classompl_1_1base_1_1GoalSampleableRegion` - :ref:`exhale_class_classompl_1_1base_1_1GoalSpace` - :ref:`exhale_class_classompl_1_1base_1_1GoalState` - :ref:`exhale_class_classompl_1_1base_1_1GoalStates` - :ref:`exhale_class_classompl_1_1base_1_1HaltonSequence` - :ref:`exhale_class_classompl_1_1base_1_1HaltonSequence1D` - :ref:`exhale_class_classompl_1_1base_1_1HybridStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1HybridTimeStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1HybridTimeStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1HybridTimeStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1InformedSampler` - :ref:`exhale_class_classompl_1_1base_1_1InformedStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1IterationTerminationCondition` - :ref:`exhale_class_classompl_1_1base_1_1KleinBottleStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1KleinBottleStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1KleinBottleStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1LightningRetrieveRepairPtr` - :ref:`exhale_class_classompl_1_1base_1_1MaximizeClearanceValidStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1MaximizeMinClearanceObjective` - :ref:`exhale_class_classompl_1_1base_1_1MechanicalWorkOptimizationObjective` - :ref:`exhale_class_classompl_1_1base_1_1MinimaxObjective` - :ref:`exhale_class_classompl_1_1base_1_1MinimizeArrivalTime` - :ref:`exhale_class_classompl_1_1base_1_1MinimumClearanceValidStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1MobiusStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1MobiusStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1MotionValidator` - :ref:`exhale_class_classompl_1_1base_1_1MotionValidatorPtr` - :ref:`exhale_class_classompl_1_1base_1_1MultiOptimizationObjective` - :ref:`exhale_class_classompl_1_1base_1_1ObstacleBasedValidStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1OptimizationObjective` - :ref:`exhale_class_classompl_1_1base_1_1OptimizationObjectivePtr` - :ref:`exhale_class_classompl_1_1base_1_1OrderedInfSampler` - :ref:`exhale_class_classompl_1_1base_1_1OwenStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1OwenStateSpace_1_1PathType` - :ref:`exhale_class_classompl_1_1base_1_1OwenStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1ParamSet` - :ref:`exhale_class_classompl_1_1base_1_1Path` - :ref:`exhale_class_classompl_1_1base_1_1PathLengthDirectInfSampler` - :ref:`exhale_class_classompl_1_1base_1_1PathLengthOptimizationObjective` - :ref:`exhale_class_classompl_1_1base_1_1PathPtr` - :ref:`exhale_class_classompl_1_1base_1_1Planner` - :ref:`exhale_class_classompl_1_1base_1_1PlannerData` - :ref:`exhale_class_classompl_1_1base_1_1PlannerData_1_1Graph` - :ref:`exhale_class_classompl_1_1base_1_1PlannerDataEdge` - :ref:`exhale_class_classompl_1_1base_1_1PlannerDataPtr` - :ref:`exhale_class_classompl_1_1base_1_1PlannerDataStorage` - :ref:`exhale_class_classompl_1_1base_1_1PlannerDataVertex` - :ref:`exhale_class_classompl_1_1base_1_1PlannerInputStates` - :ref:`exhale_class_classompl_1_1base_1_1PlannerPtr` - :ref:`exhale_class_classompl_1_1base_1_1PlannerTerminationCondition` - :ref:`exhale_class_classompl_1_1base_1_1PrecomputedSequence` - :ref:`exhale_class_classompl_1_1base_1_1PrecomputedStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1ProblemDefinition` - :ref:`exhale_class_classompl_1_1base_1_1ProblemDefinitionPtr` - :ref:`exhale_class_classompl_1_1base_1_1ProjectedStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1ProjectedStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1ProjectionEvaluator` - :ref:`exhale_class_classompl_1_1base_1_1ProjectionEvaluatorPtr` - :ref:`exhale_class_classompl_1_1base_1_1ProjectionMatrix` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorBounds` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorDeterministicStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorLinearProjectionEvaluator` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1RealVectorStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1ReedsSheppStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1ReedsSheppStateSpace_1_1PathType` - :ref:`exhale_class_classompl_1_1base_1_1RejectionInfSampler` - :ref:`exhale_class_classompl_1_1base_1_1ScopedState` - :ref:`exhale_class_classompl_1_1base_1_1SE2DeterministicStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1SE2StateSpace` - :ref:`exhale_class_classompl_1_1base_1_1SE2StateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1SE3StateSpace` - :ref:`exhale_class_classompl_1_1base_1_1SE3StateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1SO2DeterministicStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1SO2StateSampler` - :ref:`exhale_class_classompl_1_1base_1_1SO2StateSpace` - :ref:`exhale_class_classompl_1_1base_1_1SO2StateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1SO3StateSampler` - :ref:`exhale_class_classompl_1_1base_1_1SO3StateSpace` - :ref:`exhale_class_classompl_1_1base_1_1SO3StateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1SolutionNonExistenceProof` - :ref:`exhale_class_classompl_1_1base_1_1SolutionNonExistenceProofPtr` - :ref:`exhale_class_classompl_1_1base_1_1SpaceInformation` - :ref:`exhale_class_classompl_1_1base_1_1SpaceInformationPtr` - :ref:`exhale_class_classompl_1_1base_1_1SpaceTimeStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1SpecificParam` - :ref:`exhale_class_classompl_1_1base_1_1SphereStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1SphereStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1SphereStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1State` - :ref:`exhale_class_classompl_1_1base_1_1StateCostIntegralObjective` - :ref:`exhale_class_classompl_1_1base_1_1StatePropagatorPtr` - :ref:`exhale_class_classompl_1_1base_1_1StateSampler` - :ref:`exhale_class_classompl_1_1base_1_1StateSamplerArray` - :ref:`exhale_class_classompl_1_1base_1_1StateSamplerPtr` - :ref:`exhale_class_classompl_1_1base_1_1StateSpace` - :ref:`exhale_class_classompl_1_1base_1_1StateSpacePtr` - :ref:`exhale_class_classompl_1_1base_1_1StateStorage` - :ref:`exhale_class_classompl_1_1base_1_1StateStorageWithMetadata` - :ref:`exhale_class_classompl_1_1base_1_1StateValidityChecker` - :ref:`exhale_class_classompl_1_1base_1_1StateValidityCheckerPtr` - :ref:`exhale_class_classompl_1_1base_1_1SubspaceProjectionEvaluator` - :ref:`exhale_class_classompl_1_1base_1_1SubspaceStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1TangentBundleSpaceInformation` - :ref:`exhale_class_classompl_1_1base_1_1TangentBundleStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1ThunderRetrieveRepairPtr` - :ref:`exhale_class_classompl_1_1base_1_1TimeStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1TimeStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1TimeStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1TorusStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1TorusStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1TorusStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1TrochoidStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1TrochoidStateSpace_1_1PathType` - :ref:`exhale_class_classompl_1_1base_1_1TypedSpaceInformation` - :ref:`exhale_class_classompl_1_1base_1_1TypedStateValidityChecker` - :ref:`exhale_class_classompl_1_1base_1_1UniformValidStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1ValidStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1ValidStateSamplerPtr` - :ref:`exhale_class_classompl_1_1base_1_1VanaOwenStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1VanaOwenStateSpace_1_1PathType` - :ref:`exhale_class_classompl_1_1base_1_1VanaOwenStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1VanaStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1VanaStateSpace_1_1PathType` - :ref:`exhale_class_classompl_1_1base_1_1VanaStateSpace_1_1StateType` - :ref:`exhale_class_classompl_1_1base_1_1VFMechanicalWorkOptimizationObjective` - :ref:`exhale_class_classompl_1_1base_1_1VFUpstreamCriterionOptimizationObjective` - :ref:`exhale_class_classompl_1_1base_1_1WrapperProjectionEvaluator` - :ref:`exhale_class_classompl_1_1base_1_1WrapperStateSampler` - :ref:`exhale_class_classompl_1_1base_1_1WrapperStateSpace` - :ref:`exhale_class_classompl_1_1base_1_1WrapperStateSpace_1_1StateType` Enums ----- - :ref:`exhale_enum_group__advancedStateCopy_1gaa66678b1f585228b1da65ed979c98211` - :ref:`exhale_enum_namespaceompl_1_1base_1a1620a159019faf720c550eeca5723f55` - :ref:`exhale_enum_namespaceompl_1_1base_1a056b022e14fe04a75f81789947353920` Functions --------- - :ref:`exhale_function_group__advancedStateCopy_1ga26c3eda924eb78902a00170c46400a27` - :ref:`exhale_function_group__advancedStateCopy_1ga12cc0040b196f116961d6cae8a62f5d0` - :ref:`exhale_function_group__advancedStateCopy_1gab3308e05354b6e3e4175edb47d9cc46b` - :ref:`exhale_function_group__advancedStateCopy_1gae1931f1fa53bb85eadfe033a3fc91d4c` - :ref:`exhale_function_namespaceompl_1_1base_1abfe264e4726a2ce59048e7126b4a0661` - :ref:`exhale_function_namespaceompl_1_1base_1ae30b6abe39403f3291f25970d3934d1e` - :ref:`exhale_function_namespaceompl_1_1base_1a0a5f57d549019b5d4026c7f15516595c` - :ref:`exhale_function_namespaceompl_1_1base_1a253b6dae502be80501d684fa8b22159f` - :ref:`exhale_function_namespaceompl_1_1base_1a97e069784d096867466520346576ef68` - :ref:`exhale_function_namespaceompl_1_1base_1a8f9a73e64207a49663c6e3a555262a0d` - :ref:`exhale_function_namespaceompl_1_1base_1a54c5b9f661f809288701e7312308c4c4` - :ref:`exhale_function_namespaceompl_1_1base_1adaaaa1a356c72dceb3064bd29b489f20` - :ref:`exhale_function_namespaceompl_1_1base_1ab6e42481c1eda47017e021985ef69c67` - :ref:`exhale_function_group__stateAndSpaceOperators_1ga16229a85742bb392d45ea9fdc49d7434` - :ref:`exhale_function_namespaceompl_1_1base_1a6b3cb98b9e6189de8368fce2c9d18abc` - :ref:`exhale_function_group__stateAndSpaceOperators_1ga1a2a068c3ba88614e32425cf4c493261` - :ref:`exhale_function_group__stateAndSpaceOperators_1ga849c861f1e209144fbab68a95c479eb8` - :ref:`exhale_function_group__stateAndSpaceOperators_1gae1b5c9d6ea57481723cf8a9683a4eabc` - :ref:`exhale_function_namespaceompl_1_1base_1a5708f022c6261accef3b9c0fb4d96f90` - :ref:`exhale_function_namespaceompl_1_1base_1a45fbac24f8ef7d613e0da4d14edccf8a` - :ref:`exhale_function_group__stateAndSpaceOperators_1ga8c987a5def8279f211bc78881d64aec9` - :ref:`exhale_function_group__stateAndSpaceOperators_1ga3c10b3d1a9f6039b29db1c56d2b8af36` - :ref:`exhale_function_group__stateAndSpaceOperators_1ga5f927b98e04d7df8218edcaf7dd05eeb` - :ref:`exhale_function_group__stateAndSpaceOperators_1ga5d4bd70ea0237a80013a71dc2bb7daf1` - :ref:`exhale_function_namespaceompl_1_1base_1a7b13e1e0e8dc7295832b1e4314d105ea` - :ref:`exhale_function_namespaceompl_1_1base_1aee79179ce979db4912fe4def15d4c9c9` - :ref:`exhale_function_namespaceompl_1_1base_1a68417a92f8943a189fa1d992a76d3808` - :ref:`exhale_function_namespaceompl_1_1base_1a9fa5c0a689c082cd712faec901ed9477` - :ref:`exhale_function_namespaceompl_1_1base_1ac8294f13778df02112020223f405e92e` - :ref:`exhale_function_namespaceompl_1_1base_1a5237d2012e98e216afe1f876ef0bb116` - :ref:`exhale_function_namespaceompl_1_1base_1a4130055ccc30e14fcae381f7ae49fdc5` Typedefs -------- - :ref:`exhale_typedef_namespaceompl_1_1base_1a283e06df73e9f4dd5e6774c19b0b5ed5` - :ref:`exhale_typedef_namespaceompl_1_1base_1a48de5cc2d74ab81ac4d302045ed5f06b` - :ref:`exhale_typedef_namespaceompl_1_1base_1aeb8d5c8d351d2337f79cabe4ee1f51dd` - :ref:`exhale_typedef_namespaceompl_1_1base_1a6394596dbc2dc38328eb7d8bee15874c` - :ref:`exhale_typedef_namespaceompl_1_1base_1a301d8c702c92a85d73832f79cb989ee5` - :ref:`exhale_typedef_namespaceompl_1_1base_1a5c218cde462780a4502dfc561708e903` - :ref:`exhale_typedef_namespaceompl_1_1base_1a2654ca90af54f839e5aa8936f1e23351` - :ref:`exhale_typedef_namespaceompl_1_1base_1a1de6e14c387f69a1f6c0ea4e6109464f` - :ref:`exhale_typedef_namespaceompl_1_1base_1a729f324a0a979bd7087e3d279bbdd77e` - :ref:`exhale_typedef_namespaceompl_1_1base_1a7cd31d19ef5b789b0bff97bf6e249ebf` - :ref:`exhale_typedef_namespaceompl_1_1base_1afe1d1e8c2e70b9876dd5621027eb19f4` Variables --------- - :ref:`exhale_variable_namespaceompl_1_1base_1ae7d74915be95044375c8e5d7cd33f5a8`