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ompl::magic Namespace Reference

This namespace includes magic constants used in various places in OMPL. More...

Variables

static const unsigned int FIND_VALID_STATE_ATTEMPTS_WITHOUT_TIME_CHECK = 2
 Maximum number of sampling attempts to find a valid state, without checking whether the allowed time elapsed. This value should not really be changed.
static const unsigned int MAX_RANDOM_BOUNCE_STEPS = 5
 The number of steps to take for a random bounce motion generated as part of the expansion step of PRM.
static const unsigned int DEFAULT_NEAREST_NEIGHBORS = 10
 The number of nearest neighbors to consider by default in the construction of the PRM roadmap.
static const double PROJECTION_DIMENSION_SPLITS = 20.0
 When the cell sizes for a projection are automatically computed, this value defines the number of parts into which each dimension is split.
static const unsigned int PROJECTION_EXTENTS_SAMPLES = 100
 When no cell sizes are specified for a projection, they are inferred like so:
static const double MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION = 0.2
 For planners: if default values are to be used for the maximum length of motions, this constant defines what fraction of the space extent (computed with ompl::base::SpaceInformation::getMaximumExtent()) is to be used as the maximum length of a motion.
static const double STD_DEV_AS_SPACE_EXTENT_FRACTION = 0.1
 When standard deviation is needed for Gaussian sampling in the state space, by default the value of the standard deviation is computed as a fraction of the extent of the space.
static const unsigned int MAX_VALID_SAMPLE_ATTEMPTS = 100
 When multiple attempts are needed to generate valid samples, this value defines the default number of attempts.
static const unsigned int TEST_STATE_COUNT = 1000
 When multiple states need to be generated as part of the computation of various information (usually through stochastic processes), this parameter controls how many samples are generated.

Detailed Description

This namespace includes magic constants used in various places in OMPL.

We strive to minimize the use of constants in the code, but at places, this is necessary. These constants typically do not have to be changed, but we chose to expose their functionality for the more curious user. The constants in this namespace include values typically used in the computation of default settings.


Variable Documentation

const unsigned int ompl::magic::PROJECTION_EXTENTS_SAMPLES = 100 [static]

When no cell sizes are specified for a projection, they are inferred like so:

  1. approximate extent of projected space by taking a number of samples (the constant below)
  2. compute the cell sizes by dividing the extent by PROJECTION_DIMENSION_SPLITS

Definition at line 63 of file MagicConstants.h.