SelfConfig.h
const SpaceInformationPtr & getSpaceInformation() const
Get the space information this planner is using.
Definition: Planner.cpp:66
A shared pointer wrapper for ompl::base::StateSpace.
void print(std::ostream &out=std::cout) const
Print the computed configuration parameters.
Definition: SelfConfig.cpp:237
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...
Definition: NearestNeighborsGNAT.h:70
bool multithreaded
Flag indicating whether multiple threads are used in the computation of the planner.
Definition: Planner.h:200
const PlannerSpecs & getSpecs() const
Return the specifications (capabilities of this planner)
Definition: Planner.cpp:51
A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...
Definition: NearestNeighborsSqrtApprox.h:57
A shared pointer wrapper for ompl::base::Planner.
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...
Definition: NearestNeighborsGNATNoThreadSafety.h:71
static NearestNeighbors< _T > * getDefaultNearestNeighbors(const base::Planner *planner)
Select a default nearest neighbor datastructure for the given space.
Definition: SelfConfig.h:97
double getAverageValidMotionLength()
Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionL...
Definition: SelfConfig.cpp:213
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A shared pointer wrapper for ompl::base::SpaceInformation.
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...
Definition: SelfConfig.cpp:173
Abstract representation of a container that can perform nearest neighbors queries.
Definition: NearestNeighbors.h:48
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SelfConfig.cpp:243
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
double getProbabilityOfValidState()
Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidS...
Definition: SelfConfig.cpp:207
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59
A shared pointer wrapper for ompl::base::Goal.
void configureValidStateSamplingAttempts(unsigned int &attempts)
Instances of base::ValidStateSampler need a number of attempts to be specified – the maximum number ...
Definition: SelfConfig.cpp:219