ompl::geometric::SimpleSetup Class Reference

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

#include <SimpleSetup.h>

Public Member Functions
void	addStartState (const base::ScopedState<> &state)
	Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.
virtual void	clear (void)
	Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
void	clearStartStates (void)
	Clear the currently set starting states.
const base::GoalPtr &	getGoal (void) const
	Get the current goal definition.
double	getLastPlanComputationTime (void) const
	Get the amount of time (in seconds) spent during the last planning step.
double	getLastSimplificationTime (void) const
	Get the amount of time (in seconds) spend during the last path simplification step.
PathSimplifierPtr &	getPathSimplifier (void)
	Get the path simplifier.
const PathSimplifierPtr &	getPathSimplifier (void) const
	Get the path simplifier.
const base::PlannerPtr &	getPlanner (void) const
	Get the current planner.
base::PlannerData	getPlannerData (void) const
	Get information about the exploration data structure the motion planner used.
const base::ProblemDefinitionPtr &	getProblemDefinition (void) const
	Get the current instance of the problem definition.
PathGeometric &	getSolutionPath (void) const
	Get the solution path. Throw an exception if no solution is available.
const base::SpaceInformationPtr &	getSpaceInformation (void) const
	Get the current instance of the space information.
const base::StateSpacePtr &	getStateSpace (void) const
	Get the current instance of the state space.
const base::StateValidityCheckerPtr &	getStateValidityChecker (void) const
	Get the current instance of the state validity checker.
bool	haveExactSolutionPath (void) const
	Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate).
bool	haveSolutionPath (void) const
	Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
virtual void	print (std::ostream &out=std::cout) const
	Print information about the current setup.
void	setGoal (const base::GoalPtr &goal)
	Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
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.
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.
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 -- a default planner will be used if no planner is otherwise specified.
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.
void	setStartState (const base::ScopedState<> &state)
	Clear the currently set starting states and add state as the starting state.
void	setStateValidityChecker (const base::StateValidityCheckerFn &svc)
	Set the state validity checker to use.
void	setStateValidityChecker (const base::StateValidityCheckerPtr &svc)
	Set the state validity checker to use.
virtual void	setup (void)
	This method will create the necessary classes for planning. The solve() method will call this function automatically.
	SimpleSetup (const base::StateSpacePtr &space)
	Constructor needs the state space used for planning.
void	simplifySolution (void)
	Attempt to simplify the current solution path.
virtual bool	solve (double time=1.0)
	Run the planner for a specified amount of time (default is 1 second).
void	updateProjectionCellSizes (void)
	Use the exploration data structure of the planner to compute the cell sizes of the projection evaluator.
virtual	~SimpleSetup (void)
Protected Attributes
bool	configured_
	Flag indicating whether the classes needed for planning are set up.
msg::Interface	msg_
	Interface for console output.
base::PlannerAllocator	pa_
	The optional planner allocator.
base::ProblemDefinitionPtr	pdef_
	The created problem definition.
base::PlannerPtr	planner_
	The maintained planner instance.
double	planTime_
	The amount of time the last planning step took.
PathSimplifierPtr	psk_
	The instance of the path simplifier.
base::SpaceInformationPtr	si_
	The created space information.
double	simplifyTime_
	The amount of time the last path simplification step took.

Detailed Description

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

Definition at line 56 of file geometric/SimpleSetup.h.

Constructor & Destructor Documentation

ompl::geometric::SimpleSetup::SimpleSetup ( const base::StateSpacePtr & space ) [inline, explicit]

Constructor needs the state space used for planning.

Definition at line 62 of file geometric/SimpleSetup.h.

virtual ompl::geometric::SimpleSetup::~SimpleSetup ( void ) [inline, virtual]

Definition at line 69 of file geometric/SimpleSetup.h.

Member Function Documentation

void ompl::geometric::SimpleSetup::addStartState ( const base::ScopedState<> & state ) [inline]

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

Definition at line 160 of file geometric/SimpleSetup.h.

virtual void ompl::geometric::SimpleSetup::clear ( void ) [virtual]

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

void ompl::geometric::SimpleSetup::clearStartStates ( void ) [inline]

Clear the currently set starting states.

Definition at line 166 of file geometric/SimpleSetup.h.

const base::GoalPtr& ompl::geometric::SimpleSetup::getGoal ( void ) const [inline]

Get the current goal definition.

Definition at line 98 of file geometric/SimpleSetup.h.

double ompl::geometric::SimpleSetup::getLastPlanComputationTime ( void ) const [inline]

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

Definition at line 222 of file geometric/SimpleSetup.h.

double ompl::geometric::SimpleSetup::getLastSimplificationTime ( void ) const [inline]

Get the amount of time (in seconds) spend during the last path simplification step.

Definition at line 228 of file geometric/SimpleSetup.h.

PathSimplifierPtr& ompl::geometric::SimpleSetup::getPathSimplifier ( void ) [inline]

Get the path simplifier.

Definition at line 116 of file geometric/SimpleSetup.h.

const PathSimplifierPtr& ompl::geometric::SimpleSetup::getPathSimplifier ( void ) const [inline]

Get the path simplifier.

Definition at line 110 of file geometric/SimpleSetup.h.

const base::PlannerPtr& ompl::geometric::SimpleSetup::getPlanner ( void ) const [inline]

Get the current planner.

Definition at line 104 of file geometric/SimpleSetup.h.

base::PlannerData ompl::geometric::SimpleSetup::getPlannerData ( void ) const

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

const base::ProblemDefinitionPtr& ompl::geometric::SimpleSetup::getProblemDefinition ( void ) const [inline]

Get the current instance of the problem definition.

Definition at line 80 of file geometric/SimpleSetup.h.

PathGeometric& ompl::geometric::SimpleSetup::getSolutionPath ( void ) const

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

const base::SpaceInformationPtr& ompl::geometric::SimpleSetup::getSpaceInformation ( void ) const [inline]

Get the current instance of the space information.

Definition at line 74 of file geometric/SimpleSetup.h.

const base::StateSpacePtr& ompl::geometric::SimpleSetup::getStateSpace ( void ) const [inline]

Get the current instance of the state space.

Definition at line 86 of file geometric/SimpleSetup.h.

const base::StateValidityCheckerPtr& ompl::geometric::SimpleSetup::getStateValidityChecker ( void ) const [inline]

Get the current instance of the state validity checker.

Definition at line 92 of file geometric/SimpleSetup.h.

bool ompl::geometric::SimpleSetup::haveExactSolutionPath ( void ) const [inline]

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

Definition at line 122 of file geometric/SimpleSetup.h.

bool ompl::geometric::SimpleSetup::haveSolutionPath ( void ) const [inline]

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

Definition at line 128 of file geometric/SimpleSetup.h.

virtual void ompl::geometric::SimpleSetup::print ( std::ostream & out = std::cout ) const [inline, virtual]

Print information about the current setup.

Definition at line 242 of file geometric/SimpleSetup.h.

void ompl::geometric::SimpleSetup::setGoal ( const base::GoalPtr & goal ) [inline]

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

Definition at line 186 of file geometric/SimpleSetup.h.

void ompl::geometric::SimpleSetup::setGoalState	(	const base::ScopedState<> &	goal,
		const double	threshold = `std::numeric_limits<double>::epsilon()`
	)			`[inline]`

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

Definition at line 179 of file geometric/SimpleSetup.h.

void ompl::geometric::SimpleSetup::setPlanner ( const base::PlannerPtr & planner ) [inline]

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.

Definition at line 195 of file geometric/SimpleSetup.h.

void ompl::geometric::SimpleSetup::setPlannerAllocator ( const base::PlannerAllocator & pa ) [inline]

Set the planner allocator to use. This is only used if no planner has been set. This is optional -- a default planner will be used if no planner is otherwise specified.

Definition at line 206 of file geometric/SimpleSetup.h.

void ompl::geometric::SimpleSetup::setStartAndGoalStates	(	const base::ScopedState<> &	start,
		const base::ScopedState<> &	goal,
		const double	threshold = `std::numeric_limits<double>::epsilon()`
	)			`[inline]`