ompl::control::SimpleSetup Class Reference

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

#include <SimpleSetup.h>

Inheritance diagram for ompl::control::SimpleSetup:

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 ControlSpacePtr &	getControlSpace (void) const
	Get the current instance of the control space.
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.
const base::PlannerPtr &	getPlanner (void) const
	Get the current planner.
control::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.
PathControl &	getSolutionPath (void) const
	Get the solution path. Throw an exception if no solution is available.
const SpaceInformationPtr &	getSpaceInformation (void) const
	Get the current instance of the space information.
const StatePropagatorPtr &	getStatePropagator (void) const
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	setStatePropagator (const StatePropagatorPtr &sp)
	Set the instance of StatePropagator to perform state propagation.
void	setStatePropagator (const StatePropagatorFn &sp)
	Set the function that performs state propagation.
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 ControlSpacePtr &space)
	Constructor needs the control space used for planning.
virtual bool	solve (double time=1.0)
	Run the planner for a specified amount of time (default is 1 second).
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.
SpaceInformationPtr	si_
	The created space information.

Detailed Description

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

Definition at line 57 of file control/SimpleSetup.h.

Constructor & Destructor Documentation

ompl::control::SimpleSetup::SimpleSetup ( const ControlSpacePtr & space ) [inline, explicit]

Constructor needs the control space used for planning.

Definition at line 63 of file control/SimpleSetup.h.

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

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

Member Function Documentation

void ompl::control::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 176 of file control/SimpleSetup.h.

virtual void ompl::control::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::control::SimpleSetup::clearStartStates ( void ) [inline]

Clear the currently set starting states.

Definition at line 182 of file control/SimpleSetup.h.

const ControlSpacePtr& ompl::control::SimpleSetup::getControlSpace ( void ) const [inline]

Get the current instance of the control space.

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

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

Get the current goal definition.

Definition at line 109 of file control/SimpleSetup.h.

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

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

Definition at line 227 of file control/SimpleSetup.h.

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

Get the current planner.

Definition at line 115 of file control/SimpleSetup.h.

control::PlannerData ompl::control::SimpleSetup::getPlannerData ( void ) const

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

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

Get the current instance of the problem definition.

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

PathControl& ompl::control::SimpleSetup::getSolutionPath ( void ) const

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

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

Get the current instance of the space information.

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

const StatePropagatorPtr& ompl::control::SimpleSetup::getStatePropagator ( void ) const [inline]

Definition at line 103 of file control/SimpleSetup.h.

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

Get the current instance of the state space.

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

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

Get the current instance of the state validity checker.

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

bool ompl::control::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 121 of file control/SimpleSetup.h.

bool ompl::control::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 127 of file control/SimpleSetup.h.

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

Print information about the current setup.

void ompl::control::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 196 of file control/SimpleSetup.h.

void ompl::control::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 169 of file control/SimpleSetup.h.

void ompl::control::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 205 of file control/SimpleSetup.h.

void ompl::control::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 216 of file control/SimpleSetup.h.

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