Class SimpleSetup

Class Documentation

class SimpleSetup

Create the set of classes typically needed to solve a control problem.

Public Functions

explicit SimpleSetup(const SpaceInformationPtr &si)

Constructor needs the control space used for planning.

explicit SimpleSetup(const ControlSpacePtr &space)

Constructor needs the control space used for planning.

virtual ~SimpleSetup() = default
inline const SpaceInformationPtr &getSpaceInformation() const

Get the current instance of the space information.

inline const base::ProblemDefinitionPtr &getProblemDefinition() const

Get the current instance of the problem definition.

inline base::ProblemDefinitionPtr &getProblemDefinition()

Get the current instance of the problem definition.

inline const base::StateSpacePtr &getStateSpace() const

Get the current instance of the state space.

inline const ControlSpacePtr &getControlSpace() const

Get the current instance of the control space.

inline const base::StateValidityCheckerPtr &getStateValidityChecker() const

Get the current instance of the state validity checker.

inline const StatePropagatorPtr &getStatePropagator() const

Get the instance of the state propagator being used.

inline const base::GoalPtr &getGoal() const

Get the current goal definition.

inline const base::PlannerPtr &getPlanner() const

Get the current planner.

inline const base::PlannerAllocator &getPlannerAllocator() const

Get the planner allocator.

bool haveExactSolutionPath() const

Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate)

inline bool haveSolutionPath() const

Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.

PathControl &getSolutionPath() const

Get the solution path. Throw an exception if no solution is available.

void getPlannerData(base::PlannerData &pd) const

Get information about the exploration data structure the motion planner used.

inline void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)

Set the state validity checker to use.

inline void setStateValidityChecker(const base::StateValidityCheckerFn &svc)

Set the state validity checker to use.

inline void setStatePropagator(const StatePropagatorFn &sp)

Set the function that performs state propagation.

inline void setStatePropagator(const StatePropagatorPtr &sp)

Set the instance of StatePropagator to perform state propagation.

inline void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)

Set the optimization objective to use.

inline void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())

Set the start and goal states to use.

inline void setGoalState(const base::ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())

A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.

inline void addStartState(const base::ScopedState<> &state)

Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.

inline void clearStartStates()

Clear the currently set starting states.

inline void setStartState(const base::ScopedState<> &state)

Clear the currently set starting states and add state as the starting state.

inline void setGoal(const base::GoalPtr &goal)

Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.

inline 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. If no planner allocator is available either, a default planner is set.

inline 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 &#8212; a default planner will be used if no planner is otherwise specified.

virtual base::PlannerStatus solve(double time = 1.0)

Run the planner for a specified amount of time (default is 1 second)

virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc)

Run the planner until ptc becomes true (at most)

inline base::PlannerStatus getLastPlannerStatus() const

Return the status of the last planning attempt.

inline double getLastPlanComputationTime() const

Get the amount of time (in seconds) spent during the last planning step.

virtual void clear()

Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.

virtual void print(std::ostream &out = std::cout) const

Print information about the current setup.

virtual void setup()

This method will create the necessary classes for planning. The solve() method will call this function automatically.

Protected Attributes

SpaceInformationPtr si_

The created space information.

base::ProblemDefinitionPtr pdef_

The created problem definition.

base::PlannerPtr planner_

The maintained planner instance.

base::PlannerAllocator pa_

The optional planner allocator.

bool configured_

Flag indicating whether the classes needed for planning are set up.

double planTime_

The amount of time the last planning step took.

base::PlannerStatus last_status_

The status of the last planning request.