Definition of a problem to be solved. This includes the start state(s) for the system and a goal specification. More...
#include <ProblemDefinition.h>
Public Member Functions | |
ProblemDefinition (const SpaceInformationPtr &si) | |
Create a problem definition given the SpaceInformation it is part of. | |
void | addStartState (const State *state) |
Add a start state. The state is copied. | |
void | addStartState (const ScopedState<> &state) |
Add a start state. The state is copied. | |
bool | hasStartState (const State *state, unsigned int *startIndex=NULL) |
Check whether a specified starting state is already included in the problem definition and optionally return the index of that starting state. | |
void | clearStartStates (void) |
Clear all start states (memory is freed) | |
unsigned int | getStartStateCount (void) const |
Returns the number of start states. | |
const State * | getStartState (unsigned int index) const |
Returns a specific start state. | |
State * | getStartState (unsigned int index) |
Returns a specific start state. | |
void | setGoal (const GoalPtr &goal) |
Set the goal. | |
void | clearGoal (void) |
Clear the goal. Memory is freed. | |
const GoalPtr & | getGoal (void) const |
Return the current goal. | |
void | getInputStates (std::vector< const State * > &states) const |
Get all the input states. This includes start states and states that are part of goal regions that can be casted as ompl::base::GoalState or ompl::base::GoalStates. | |
void | setStartAndGoalStates (const State *start, const State *goal, const double threshold=std::numeric_limits< double >::epsilon()) |
In the simplest case possible, we have a single starting state and a single goal state. | |
void | setGoalState (const State *goal, const double threshold=std::numeric_limits< double >::epsilon()) |
A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is setGoal() | |
void | setStartAndGoalStates (const ScopedState<> &start, const ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon()) |
In the simplest case possible, we have a single starting state and a single goal state. | |
void | setGoalState (const ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon()) |
A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is setGoal() | |
bool | isTrivial (unsigned int *startIndex=NULL, double *distance=NULL) const |
A problem is trivial if a given starting state already in the goal region, so we need no motion planning. startID will be set to the index of the starting state that satisfies the goal. The distance to the goal can optionally be returned as well. | |
PathPtr | isStraightLinePathValid (void) const |
Check if a straight line path is valid. If it is, return an instance of a path that represents the straight line. | |
bool | fixInvalidInputStates (double distStart, double distGoal, unsigned int attempts) |
Many times the start or goal state will barely touch an obstacle. In this case, we may want to automatically find a nearby state that is valid so motion planning can be performed. This function enables this behaviour. The allowed distance for both start and goal states is specified. The number of attempts is also specified. Returns true if all states are valid after completion. | |
void | print (std::ostream &out=std::cout) const |
Print information about the start and goal states. | |
Protected Member Functions | |
bool | fixInvalidInputState (State *state, double dist, bool start, unsigned int attempts) |
Helper function for fixInvalidInputStates(). Attempts to fix an individual state. | |
Protected Attributes | |
SpaceInformationPtr | si_ |
The space information this problem definition is for. | |
std::vector< State * > | startStates_ |
The set of start states. | |
GoalPtr | goal_ |
The goal representation. | |
msg::Interface | msg_ |
Interface for console output. |
Definition of a problem to be solved. This includes the start state(s) for the system and a goal specification.
Definition at line 67 of file ProblemDefinition.h.
void ompl::base::ProblemDefinition::addStartState | ( | const ScopedState<> & | state | ) | [inline] |
Add a start state. The state is copied.
Definition at line 88 of file ProblemDefinition.h.
State* ompl::base::ProblemDefinition::getStartState | ( | unsigned int | index | ) | [inline] |
Returns a specific start state.
Definition at line 119 of file ProblemDefinition.h.
Check if a straight line path is valid. If it is, return an instance of a path that represents the straight line.
Definition at line 153 of file ProblemDefinition.cpp.
void ompl::base::ProblemDefinition::setGoalState | ( | const ScopedState<> & | goal, |
const double | threshold = std::numeric_limits<double>::epsilon() |
||
) | [inline] |
A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is setGoal()
Definition at line 167 of file ProblemDefinition.h.
void ompl::base::ProblemDefinition::setStartAndGoalStates | ( | const State * | start, |
const State * | goal, | ||
const double | threshold = std::numeric_limits<double>::epsilon() |
||
) |
In the simplest case possible, we have a single starting state and a single goal state.
This function simply configures the problem definition using these states (performs the needed calls to addStartState(), creates an instance of ompl::base::GoalState and calls setGoal() on it.
Definition at line 44 of file ProblemDefinition.cpp.
void ompl::base::ProblemDefinition::setStartAndGoalStates | ( | const ScopedState<> & | start, |
const ScopedState<> & | goal, | ||
const double | threshold = std::numeric_limits<double>::epsilon() |
||
) | [inline] |
In the simplest case possible, we have a single starting state and a single goal state.
This function simply configures the problem definition using these states (performs the needed calls to addStartState(), creates an instance of ompl::base::GoalState and calls setGoal() on it.
Definition at line 161 of file ProblemDefinition.h.