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ompl::SelfConfig Class Reference

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>

List of all members.

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.

Detailed Description

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.


The documentation for this class was generated from the following files: