ompl::base::Planner Class Reference

Base class for a planner. More...

#include <Planner.h>

Inheritance diagram for ompl::base::Planner:

Public Member Functions
template<class T >
const T *	as (void) const
	Cast this instance to a desired type.
template<class T >
T *	as (void)
	Cast this instance to a desired type.
virtual void	checkValidity (void)
	Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception. q.
virtual void	clear (void)
	Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.
const std::string &	getName (void) const
	Get the name of the planner.
virtual void	getPlannerData (PlannerData &data) const
	Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).
const PlannerInputStates &	getPlannerInputStates (void) const
	Get the planner input states.
const ProblemDefinitionPtr &	getProblemDefinition (void) const
	Get the problem definition the planner is trying to solve.
const SpaceInformationPtr &	getSpaceInformation (void) const
	Get the space information this planner is using.
PlannerType	getType (void) const
	Return the type of the motion planner. This is useful if the planner wants to advertise what type of problems it can solve.
bool	isSetup (void) const
	Check if setup() was called for this planner.
	Planner (const SpaceInformationPtr &si, const std::string &name)
	Constructor.
void	setName (const std::string &name)
	Set the name of the planner.
virtual void	setProblemDefinition (const ProblemDefinitionPtr &pdef)
	Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear().
virtual void	setup (void)
	Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.
bool	solve (double solveTime)
	Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.
bool	solve (const PlannerTerminationConditionFn &ptc, double checkInterval)
	Same as above except the termination condition is only evaluated at a specified interval.
virtual bool	solve (const PlannerTerminationCondition &ptc)=0
	Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). The function terminates if the call to ptc returns true.
virtual	~Planner (void)
	Destructor.
Protected Attributes
msg::Interface	msg_
	Console interface.
std::string	name_
	The name of this planner.
ProblemDefinitionPtr	pdef_
	The user set problem definition.
PlannerInputStates	pis_
	Utility class to extract valid input states.
bool	setup_
	Flag indicating whether setup() has been called.
SpaceInformationPtr	si_
	The space information for which planning is done.
PlannerType	type_
	The planner type: defines the type of goals this planner can handle.

Detailed Description

Base class for a planner.

Definition at line 207 of file Planner.h.

Constructor & Destructor Documentation

ompl::base::Planner::Planner	(	const SpaceInformationPtr &	si,
		const std::string &	name
	)

Constructor.

virtual ompl::base::Planner::~Planner ( void ) [inline, virtual]

Destructor.

Definition at line 216 of file Planner.h.

Member Function Documentation

template<class T >

const T* ompl::base::Planner::as ( void ) const [inline]

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a Planner

Definition at line 232 of file Planner.h.

template<class T >

T* ompl::base::Planner::as ( void ) [inline]

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a planner

Definition at line 222 of file Planner.h.

virtual void ompl::base::Planner::checkValidity ( void ) [virtual]

Check to see if the planner is in a working state (setup has been called, a goal was set, the input states seem to be in order). In case of error, this function throws an exception. q.

virtual void ompl::base::Planner::clear ( void ) [virtual]

Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() will ignore all previous work.

Reimplemented in ompl::control::KPIECE1, ompl::control::RRT, ompl::geometric::EST, ompl::geometric::BKPIECE1, ompl::geometric::KPIECE1, ompl::geometric::LBKPIECE1, ompl::geometric::BasicPRM, ompl::geometric::LazyRRT, ompl::geometric::pRRT, ompl::geometric::RRT, ompl::geometric::RRTConnect, ompl::geometric::pSBL, and ompl::geometric::SBL.

const std::string& ompl::base::Planner::getName ( void ) const

Get the name of the planner.

virtual void ompl::base::Planner::getPlannerData ( PlannerData & data ) const [virtual]

Get information about the current run of the motion planner. Repeated calls to this function will update data (only additions are made). This is useful to see what changed in the exploration datastructure, between calls to solve(), for example (without calling clear() in between).

Reimplemented in ompl::control::KPIECE1, ompl::control::RRT, ompl::geometric::EST, ompl::geometric::BKPIECE1, ompl::geometric::KPIECE1, ompl::geometric::LBKPIECE1, ompl::geometric::BasicPRM, ompl::geometric::LazyRRT, ompl::geometric::pRRT, ompl::geometric::RRT, ompl::geometric::RRTConnect, ompl::geometric::pSBL, and ompl::geometric::SBL.

const PlannerInputStates& ompl::base::Planner::getPlannerInputStates ( void ) const

Get the planner input states.

const ProblemDefinitionPtr& ompl::base::Planner::getProblemDefinition ( void ) const

Get the problem definition the planner is trying to solve.

const SpaceInformationPtr& ompl::base::Planner::getSpaceInformation ( void ) const

Get the space information this planner is using.

PlannerType ompl::base::Planner::getType ( void ) const

Return the type of the motion planner. This is useful if the planner wants to advertise what type of problems it can solve.

bool ompl::base::Planner::isSetup ( void ) const

Check if setup() was called for this planner.

void ompl::base::Planner::setName ( const std::string & name )

Set the name of the planner.

virtual void ompl::base::Planner::setProblemDefinition ( const ProblemDefinitionPtr & pdef ) [virtual]

Set the problem definition for the planner. The problem needs to be set before calling solve(). Note: If this problem definition replaces a previous one, it may also be necessary to call clear().

Reimplemented in ompl::geometric::BasicPRM.

virtual void ompl::base::Planner::setup ( void ) [virtual]

Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceInformation::setup() if needed. This must be called before solving.

Reimplemented in ompl::control::KPIECE1, ompl::control::RRT, ompl::geometric::EST, ompl::geometric::BKPIECE1, ompl::geometric::KPIECE1, ompl::geometric::LBKPIECE1, ompl::geometric::BasicPRM, ompl::geometric::LazyRRT, ompl::geometric::pRRT, ompl::geometric::RRT, ompl::geometric::RRTConnect, ompl::geometric::pSBL, and ompl::geometric::SBL.

bool ompl::base::Planner::solve ( double solveTime )

Same as above except the termination condition is solely a time limit: the number of seconds the algorithm is allowed to spend planning.

bool ompl::base::Planner::solve	(	const PlannerTerminationConditionFn &	ptc,
		double	checkInterval
	)

Same as above except the termination condition is only evaluated at a specified interval.

virtual bool ompl::base::Planner::solve ( const PlannerTerminationCondition & ptc ) [pure virtual]

Function that can solve the motion planning problem. This function can be called multiple times on the same problem, without calling clear() in between. This allows the planner to continue work more time on an unsolved problem, for example. If this option is used, it is assumed the problem definition is not changed (unpredictable results otherwise). The only change in the problem definition that is accounted for is the addition of starting or goal states (but not changing previously added start/goal states). The function terminates if the call to ptc returns true.

Implemented in ompl::control::KPIECE1, ompl::control::RRT, ompl::geometric::EST, ompl::geometric::BKPIECE1, ompl::geometric::KPIECE1, ompl::geometric::LBKPIECE1, ompl::geometric::BasicPRM, ompl::geometric::LazyRRT, ompl::geometric::pRRT, ompl::geometric::RRT, ompl::geometric::RRTConnect, ompl::geometric::pSBL, and ompl::geometric::SBL.