SimpleSetup.h
const base::PlannerAllocator & getPlannerAllocator() const
Get the planner allocator.
Definition: SimpleSetup.h:187
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:234
const ControlSpacePtr & getControlSpace() const
Get the current instance of the control space.
Definition: SimpleSetup.h:157
A shared pointer wrapper for ompl::base::SpaceInformation.
const base::StateValidityCheckerPtr & getStateValidityChecker() const
Get the current instance of the state validity checker.
Definition: SimpleSetup.h:163
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
Definition: SimpleSetup.cpp:45
A shared pointer wrapper for ompl::control::ControlSpace.
const SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:139
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:497
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 – ...
Definition: SimpleSetup.h:295
std::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...
Definition: SpaceInformation.h:140
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....
Definition: SimpleSetup.h:284
void setStartState(const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.
Definition: SimpleSetup.h:267
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SimpleSetup.cpp:40
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
Definition: SimpleSetup.cpp:138
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.
Definition: SimpleSetup.h:240
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:59
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:347
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
std::function< void(const base::State *, const Control *, const double, base::State *)> StatePropagatorFn
A function that achieves state propagation.
Definition: SpaceInformation.h:130
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:93
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.
Definition: SimpleSetup.h:247
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the current instance of the problem definition.
Definition: SimpleSetup.h:145
base::PlannerStatus getLastPlannerStatus() const
Return the status of the last planning attempt.
Definition: SimpleSetup.h:309
PathControl & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition: SimpleSetup.cpp:121
A shared pointer wrapper for ompl::control::StatePropagator.
void addStartState(const base::ScopedState<> &state)
Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...
Definition: SimpleSetup.h:255
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
Definition: SimpleSetup.h:275
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful)....
Definition: SimpleSetup.h:198
void setStatePropagator(const StatePropagatorFn &sp)
Set the function that performs state propagation.
Definition: SimpleSetup.h:222
const StatePropagatorPtr & getStatePropagator() const
Get the instance of the state propagator being used.
Definition: SimpleSetup.h:169
base::PlannerStatus last_status_
The status of the last planning request.
Definition: SimpleSetup.h:353
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:210
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Definition: SimpleSetup.cpp:132
double getLastPlanComputationTime() const
Get the amount of time (in seconds) spent during the last planning step.
Definition: SimpleSetup.h:315
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
Definition: SimpleSetup.cpp:145
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
Definition: SimpleSetup.cpp:83
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:52
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:151