This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached. More...
#include <SelfConfig.h>
Public Member Functions | |
SelfConfig (const base::SpaceInformationPtr &si, const std::string &context=std::string()) | |
Construct an instance that can configure the space encapsulated by si. Any information printed to the console is prefixed by context. | |
double | getProbabilityOfValidState (void) |
Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidState()) | |
double | getAverageValidMotionLength (void) |
Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionLength()) | |
void | configureProjectionEvaluator (base::ProjectionEvaluatorPtr &proj) |
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultProjection(). If no default projection is available either, an exception is thrown. | |
void | configureValidStateSamplingAttempts (unsigned int &attempts) |
Instances of base::ValidStateSampler need a number of attempts to be specified -- the maximum number of times a new sample is selected and checked to be valid. This function computes a number of attempts such that the probability of obtaining a valid sample is 90%. | |
void | configurePlannerRange (double &range) |
Compute what a good length for motion segments is. | |
void | print (std::ostream &out=std::cout) const |
Print the computed configuration parameters. |
This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached.
Definition at line 51 of file SelfConfig.h.