SimpleSetup.h
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
Definition: SimpleSetup.cpp:45
A shared pointer wrapper for ompl::base::ProblemDefinition.
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called...
Definition: SimpleSetup.h:211
const ControlSpacePtr & getControlSpace() const
Get the current instance of the control space.
Definition: SimpleSetup.h:93
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SimpleSetup.cpp:40
void setStatePropagator(const StatePropagatorFn &sp)
Set the function that performs state propagation.
Definition: SimpleSetup.h:158
A shared pointer wrapper for ompl::base::StateSpace.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:63
void setPlannerAllocator(const base::PlannerAllocator &pa)
Set the planner allocator to use. This is only used if no planner has been set. This is optional – a...
Definition: SimpleSetup.h:231
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
double getLastPlanComputationTime() const
Get the amount of time (in seconds) spent during the last planning step.
Definition: SimpleSetup.h:251
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:87
void setStartState(const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.
Definition: SimpleSetup.h:203
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:93
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:59
A shared pointer wrapper for ompl::base::StateValidityChecker.
A shared pointer wrapper for ompl::control::ControlSpace.
const base::StateValidityCheckerPtr & getStateValidityChecker() const
Get the current instance of the state validity checker.
Definition: SimpleSetup.h:99
std::function< void(const base::State *, const Control *, const double, base::State *)> StatePropagatorFn
A function that achieves state propagation.
Definition: SpaceInformation.h:66
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
Definition: SimpleSetup.cpp:145
A shared pointer wrapper for ompl::base::Planner.
void setStatePropagator(const StatePropagatorPtr &sp)
Set the instance of StatePropagator to perform state propagation.
Definition: SimpleSetup.h:164
void setGoalState(const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
Definition: SimpleSetup.h:183
const base::PlannerAllocator & getPlannerAllocator() const
Get the planner allocator.
Definition: SimpleSetup.h:123
base::PlannerStatus getLastPlannerStatus() const
Return the status of the last planning attempt.
Definition: SimpleSetup.h:245
PathControl & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition: SimpleSetup.cpp:121
const StatePropagatorPtr & getStatePropagator() const
Get the instance of the state propagator being used.
Definition: SimpleSetup.h:105
void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
Set the start and goal states to use.
Definition: SimpleSetup.h:176
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
base::PlannerStatus last_status_
The status of the last planning request.
Definition: SimpleSetup.h:289
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Definition: SimpleSetup.cpp:132
A shared pointer wrapper for ompl::control::SpaceInformation.
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
Definition: SimpleSetup.cpp:138
A shared pointer wrapper for ompl::base::OptimizationObjective.
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:170
const SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:75
void addStartState(const base::ScopedState<> &state)
Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...
Definition: SimpleSetup.h:191
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:146
void setPlanner(const base::PlannerPtr &planner)
Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator...
Definition: SimpleSetup.h:220
A shared pointer wrapper for ompl::base::Goal.
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:433
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
Definition: SimpleSetup.h:134
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:283
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
Definition: SimpleSetup.cpp:83
std::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...
Definition: SpaceInformation.h:76
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the current instance of the problem definition.
Definition: SimpleSetup.h:81
void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:152