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SelfConfig.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_TOOLS_SELF_CONFIG_
00038 #define OMPL_TOOLS_SELF_CONFIG_
00039 
00040 #include "ompl/config.h"
00041 #include "ompl/base/SpaceInformation.h"
00042 #include <iostream>
00043 #include <string>
00044 
00045 namespace ompl
00046 {
00047 
00051     class SelfConfig
00052     {
00053     public:
00054 
00058         SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());
00059 
00061         double getProbabilityOfValidState(void);
00062 
00064         double getAverageValidMotionLength(void);
00065 
00069         void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj);
00070 
00074         void configureValidStateSamplingAttempts(unsigned int &attempts);
00075 
00077         void configurePlannerRange(double &range);
00078 
00080         void print(std::ostream &out = std::cout) const;
00081 
00082     private:
00083 
00085         class SelfConfigImpl;
00086 
00087         SelfConfigImpl *impl_;
00088         std::string     context_;
00090     };
00091 }
00092 
00093 #endif