The base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use. More...
#include <SpaceInformation.h>
Public Member Functions | |
SpaceInformation (const StateSpacePtr &space) | |
Constructor. Sets the instance of the state space to plan with. | |
bool | isValid (const State *state) const |
Check if a given state is valid or not. | |
const StateSpacePtr & | getStateSpace (void) const |
Return the instance of the used state space. | |
unsigned int | getStateDimension (void) const |
Return the dimension of the state space. | |
virtual void | printSettings (std::ostream &out=std::cout) const |
Print information about the current instance of the state space. | |
virtual void | printProperties (std::ostream &out=std::cout) const |
Print properties of the current instance of the state space. | |
virtual void | setup (void) |
Perform additional setup tasks (run once, before use). If state validity checking resolution has not been set, estimateMaxResolution() is called to estimate it. | |
bool | isSetup (void) const |
Return true if setup was called. | |
Topology-specific state operations (as in the state space) | |
bool | equalStates (const State *state1, const State *state2) const |
Check if two states are the same. | |
bool | satisfiesBounds (const State *state) const |
Check if a state is inside the bounding box. | |
double | distance (const State *state1, const State *state2) const |
Compute the distance between two states. | |
void | enforceBounds (State *state) const |
Bring the state within the bounds of the state space. | |
void | printState (const State *state, std::ostream &out=std::cout) const |
Print a state to a stream. | |
Configuration of state validity checking | |
void | setStateValidityChecker (const StateValidityCheckerPtr &svc) |
Set the instance of the state validity checker to use. Parallel implementations of planners assume this validity checker is thread safe. | |
void | setStateValidityChecker (const StateValidityCheckerFn &svc) |
If no state validity checking class is specified (StateValidityChecker), a boost function can be specified instead. This version however incurs a small additional overhead when calling the function, since there is one more level of indirection. | |
const StateValidityCheckerPtr & | getStateValidityChecker (void) const |
Return the instance of the used state validity checker. | |
void | setMotionValidator (const MotionValidatorPtr &mv) |
Set the instance of the motion validity checker to use. Parallel implementations of planners assume this validity checker is thread safe. | |
const MotionValidatorPtr & | getMotionValidator (void) const |
Return the instance of the used state validity checker. | |
void | setStateValidityCheckingResolution (double resolution) |
Set the resolution at which state validity needs to be verified in order for a motion between two states to be considered valid. This value is specified as a fraction of the space's extent. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking. | |
double | getStateValidityCheckingResolution (void) const |
Get the resolution at which state validity is verified. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking. | |
State memory management | |
State * | allocState (void) const |
Allocate memory for a state. | |
void | allocStates (std::vector< State * > &states) const |
Allocate memory for each element of the array states. | |
void | freeState (State *state) const |
Free the memory of a state. | |
void | freeStates (std::vector< State * > &states) const |
Free the memory of an array of states. | |
void | copyState (State *destination, const State *source) const |
Copy a state to another. | |
State * | cloneState (const State *source) const |
Clone a state. | |
Sampling of valid states | |
StateSamplerPtr | allocStateSampler (void) const |
Allocate a uniform state sampler for the state space. | |
ValidStateSamplerPtr | allocValidStateSampler (void) const |
Allocate an instance of a valid state sampler for this space. If setValidStateSamplerAllocator() was previously called, the specified allocator is used to produce the state sampler. Otherwise, a ompl::base::UniformValidStateSampler() is allocated. | |
void | setValidStateSamplerAllocator (const ValidStateSamplerAllocator &vssa) |
Set the allocator to use for a valid state sampler. This replaces the default uniform valid state sampler. This call can be made at any time, but it should not be changed while ompl::base::Planner::solve() is executing. | |
Primitives typically used by motion planners | |
double | getMaximumExtent (void) const |
Get the maximum extent of the space we are planning in. This is the maximum distance that could be reported between any two given states. | |
bool | searchValidNearby (State *state, const State *near, double distance, unsigned int attempts) const |
Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. | |
bool | searchValidNearby (const ValidStateSamplerPtr &sampler, State *state, const State *near, double distance) const |
Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. | |
unsigned int | randomBounceMotion (const StateSamplerPtr &sss, const State *start, unsigned int steps, std::vector< State * > &states, bool alloc) const |
Produce a valid motion starting at start by randomly bouncing off of invalid states. The start state start is not included in the computed motion (states). Returns the number of elements written to states (less or equal to steps). | |
bool | checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const |
Incrementally check if the path between two motions is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid. | |
bool | checkMotion (const State *s1, const State *s2) const |
Check if the path between two states (from s1 to s2) is valid, using subdivision. This function assumes s1 is valid. | |
bool | checkMotion (const std::vector< State * > &states, unsigned int count, unsigned int &firstInvalidStateIndex) const |
Incrementally check if a sequence of states is valid. Given a vector of states, this routine only checks the first count elements and marks the index of the first invalid state. | |
bool | checkMotion (const std::vector< State * > &states, unsigned int count) const |
Check if a sequence of states is valid using subdivision. | |
unsigned int | getMotionStates (const State *s1, const State *s2, std::vector< State * > &states, unsigned int count, bool endpoints, bool alloc) const |
Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. If states.size() >= count or alloc is true, the returned value is equal to count (or count + 2, if endpoints is true). Otherwise, fewer states can be returned. | |
Routines for inferring information about the state space | |
double | probabilityOfValidState (unsigned int attempts) const |
Estimate probability of sampling a valid state. setup() is assumed to have been called. | |
double | averageValidMotionLength (unsigned int attempts) const |
Estimate the length of a valid motion. setup() is assumed to have been called. | |
Protected Attributes | |
StateSpacePtr | stateSpace_ |
The state space planning is to be performed in. | |
StateValidityCheckerPtr | stateValidityChecker_ |
The instance of the state validity checker used for determining the validity of states in the planning process. | |
MotionValidatorPtr | motionValidator_ |
The instance of the motion validator to use when determining the validity of motions in the planning process. | |
bool | setup_ |
Flag indicating whether setup() has been called on this instance. | |
ValidStateSamplerAllocator | vssa_ |
The optional valid state sampler allocator. | |
msg::Interface | msg_ |
The console interface. |
The base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use.
Definition at line 85 of file SpaceInformation.h.
bool ompl::base::SpaceInformation::checkMotion | ( | const State * | s1, |
const State * | s2, | ||
std::pair< State *, double > & | lastValid | ||
) | const [inline] |
Incrementally check if the path between two motions is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid.
s1 | start state of the motion to be checked (assumed to be valid) |
s2 | final state of the motion to be checked |
lastValid | first: storage for the last valid state (may be NULL); this need not be different from s1 or s2. second: the time (between 0 and 1) of the last valid state, on the motion from s1 to s2 |
Definition at line 327 of file SpaceInformation.h.
bool ompl::base::SpaceInformation::checkMotion | ( | const std::vector< State * > & | states, |
unsigned int | count, | ||
unsigned int & | firstInvalidStateIndex | ||
) | const |
Incrementally check if a sequence of states is valid. Given a vector of states, this routine only checks the first count elements and marks the index of the first invalid state.
states | the array of states to be checked |
count | the number of states to be checked in the array (0 to count) |
firstInvalidStateIndex | location to store the first invalid state index. Unmodified if the function returns true |
Definition at line 239 of file SpaceInformation.cpp.
unsigned int ompl::base::SpaceInformation::getMotionStates | ( | const State * | s1, |
const State * | s2, | ||
std::vector< State * > & | states, | ||
unsigned int | count, | ||
bool | endpoints, | ||
bool | alloc | ||
) | const |
Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. If states.size() >= count or alloc is true, the returned value is equal to count (or count + 2, if endpoints is true). Otherwise, fewer states can be returned.
s1 | the start state of the considered motion |
s2 | the end state of the considered motion |
states | the computed set of states along the specified motion |
count | the number of intermediate states to compute |
endpoints | flag indicating whether s1 and s2 are to be included in states |
alloc | flag indicating whether memory is to be allocated automatically |
Definition at line 167 of file SpaceInformation.cpp.
unsigned int ompl::base::SpaceInformation::randomBounceMotion | ( | const StateSamplerPtr & | sss, |
const State * | start, | ||
unsigned int | steps, | ||
std::vector< State * > & | states, | ||
bool | alloc | ||
) | const |
Produce a valid motion starting at start by randomly bouncing off of invalid states. The start state start is not included in the computed motion (states). Returns the number of elements written to states (less or equal to steps).
sss | the state space sampler to use |
start | the state at which to start bouncing |
steps | the number of bouncing steps to take |
states | the location at which generated states will be stored |
alloc | flag indicating whether memory should be allocated for states |
Definition at line 102 of file SpaceInformation.cpp.
bool ompl::base::SpaceInformation::searchValidNearby | ( | State * | state, |
const State * | near, | ||
double | distance, | ||
unsigned int | attempts | ||
) | const |
Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success.
state | the location at which to store the valid state, if one is found. This location may be modified even if no valid state is found. |
near | a state that may be invalid near which we would like to find a valid state |
distance | the maximum allowed distance between state and near |
attempts | the algorithm works by sampling states near state near. This parameter defines the maximum number of sampling attempts |
Definition at line 150 of file SpaceInformation.cpp.
bool ompl::base::SpaceInformation::searchValidNearby | ( | const ValidStateSamplerPtr & | sampler, |
State * | state, | ||
const State * | near, | ||
double | distance | ||
) | const |
Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success.
sampler | the valid state sampler to use when attemting to find a valid sample. |
state | the location at which to store the valid state, if one is found. This location may be modified even if no valid state is found. |
near | a state that may be invalid near which we would like to find a valid state |
distance | the maximum allowed distance between state and near |
Definition at line 128 of file SpaceInformation.cpp.