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SimpleSetup.cpp
41 : configured_(false), planTime_(0.0), simplifyTime_(0.0), lastStatus_(base::PlannerStatus::UNKNOWN)
48 : configured_(false), planTime_(0.0), simplifyTime_(0.0), lastStatus_(base::PlannerStatus::UNKNOWN)
98void ompl::geometric::SimpleSetup::setGoalState(const base::ScopedState<> &goal, const double threshold)
121// we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner
151void ompl::geometric::SimpleSetup::simplifySolution(const base::PlannerTerminationCondition &ptc)
163 OMPL_INFORM("SimpleSetup: Path simplification took %f seconds and changed from %d to %d states",
186 OMPL_INFORM("SimpleSetup: Path simplification took %f seconds and changed from %d to %d states",
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
PathGeometric & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition SimpleSetup.cpp:208
double simplifyTime_
The amount of time the last path simplification step took.
Definition SimpleSetup.h:303
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for up to a specified amount of time (default is 1 second)
Definition SimpleSetup.cpp:123
const std::string getSolutionPlannerName() const
Get the best solution's planer name. Throw an exception if no solution is available.
Definition SimpleSetup.cpp:194
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition SimpleSetup.h:297
void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
Set the start and goal states to use.
Definition SimpleSetup.cpp:86
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
Definition SimpleSetup.cpp:219
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
Definition SimpleSetup.cpp:226
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
Definition SimpleSetup.cpp:78
void simplifySolution(double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification p...
Definition SimpleSetup.cpp:171
SimpleSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition SimpleSetup.cpp:40
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
Definition SimpleSetup.cpp:108
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition SimpleSetup.cpp:54
void setGoalState(const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
Definition SimpleSetup.cpp:98
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition SelfConfig.cpp:243
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition GoalTypes.h:56
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition Time.h:64
Representation of a solution to a planning problem.
Definition ProblemDefinition.h:70
std::string plannerName_
Name of planner type that generated this solution, as received from Planner::getName()
Definition ProblemDefinition.h:136
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49