ProblemDefinition.cpp
168 void ompl::base::ProblemDefinition::setStartAndGoalStates(const State *start, const State *goal, const double threshold)
184 bool ompl::base::ProblemDefinition::hasStartState(const State *state, unsigned int *startIndex) const
196 bool ompl::base::ProblemDefinition::fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts)
232 bool ompl::base::ProblemDefinition::fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts)
280 if (control::SpaceInformationPtr sic = std::dynamic_pointer_cast<control::SpaceInformation, SpaceInformation>(si_))
344 std::make_shared<geometric::PathGeometric>(si_, startStates_[startIndex], startStates_[startIndex]);
419 void ompl::base::ProblemDefinition::addSolutionPath(const PathPtr &path, bool approximate, double difference,
432 OMPL_INFORM("ProblemDefinition: Adding approximate solution from planner %s", sol.plannerName_.c_str());
473 out << "Average state cost: " << optimizationObjective_->averageStateCost(magic::TEST_STATE_COUNT) << std::endl;
490 const ompl::base::SolutionNonExistenceProofPtr &ompl::base::ProblemDefinition::getSolutionNonExistenceProof() const
const SolutionNonExistenceProofPtr & getSolutionNonExistenceProof() const
Retrieve a pointer to the SolutionNonExistenceProof instance for this problem definition.
Definition: ProblemDefinition.cpp:490
void setApproximate(double difference)
Specify that the solution is approximate and set the difference to the goal.
Definition: ProblemDefinition.h:89
void print(std::ostream &out=std::cout) const
Print information about the start and goal states and the optimization objective. ...
Definition: ProblemDefinition.cpp:461
bool hasApproximateSolution() const
Return true if the top found solution is approximate (does not actually reach the desired goal...
Definition: ProblemDefinition.cpp:436
bool optimized_
True if the solution was optimized to meet the specified optimization criterion.
Definition: ProblemDefinition.h:127
Representation of a solution to a planning problem.
Definition: ProblemDefinition.h:69
void clearSolutionNonExistenceProof()
Removes any existing instance of SolutionNonExistenceProof.
Definition: ProblemDefinition.cpp:485
A shared pointer wrapper for ompl::base::SolutionNonExistenceProof.
bool hasOptimizedSolution() const
Return true if the top found solution is optimized (satisfies the specified optimization objective) ...
Definition: ProblemDefinition.cpp:441
bool hasStartState(const State *state, unsigned int *startIndex=nullptr) const
Check whether a specified starting state is already included in the problem definition and optionally...
Definition: ProblemDefinition.cpp:184
void addSolutionPath(const PathPtr &path, bool approximate=false, double difference=-1.0, const std::string &plannerName="Unknown") const
Add a solution path in a thread-safe manner. Multiple solutions can be set for a goal. If a solution does not reach the desired goal it is considered approximate. Optionally, the distance between the desired goal and the one actually achieved is set by difference. Optionally, the name of the planner that generated the solution.
Definition: ProblemDefinition.cpp:419
STL namespace.
bool hasSolutionNonExistenceProof() const
Returns true if the problem definition has a proof of non existence for a solution.
Definition: ProblemDefinition.cpp:480
bool approximate_
True if goal was not achieved, but an approximate solution was found.
Definition: ProblemDefinition.h:121
PathPtr getSolutionPath() const
Return the top solution path, if one is found. The top path is the shortest one that was found...
Definition: ProblemDefinition.cpp:409
std::vector< PlannerSolution > getSolutions() const
Get all the solution paths available for this goal.
Definition: ProblemDefinition.cpp:451
void setSolutionNonExistenceProof(const SolutionNonExistenceProofPtr &nonExistenceProof)
Set the instance of SolutionNonExistenceProof for this problem definition.
Definition: ProblemDefinition.cpp:495
PathPtr isStraightLinePathValid() const
Check if a straight line path is valid. If it is, return an instance of a path that represents the st...
Definition: ProblemDefinition.cpp:277
bool fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts)
Many times the start or goal state will barely touch an obstacle. In this case, we may want to automa...
Definition: ProblemDefinition.cpp:232
void clearSolutionPaths() const
Forget the solution paths (thread safe). Memory is freed.
Definition: ProblemDefinition.cpp:456
A shared pointer wrapper for ompl::base::SpaceInformation.
Cost cost_
The cost of this solution path, with respect to the optimization objective.
Definition: ProblemDefinition.h:133
A shared pointer wrapper for ompl::control::SpaceInformation.
void setStartAndGoalStates(const State *start, const State *goal, double threshold=std::numeric_limits< double >::epsilon())
In the simplest case possible, we have a single starting state and a single goal state.
Definition: ProblemDefinition.cpp:168
bool fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts)
Helper function for fixInvalidInputStates(). Attempts to fix an individual state. ...
Definition: ProblemDefinition.cpp:196
OptimizationObjectivePtr opt_
Optimization objective that was used to optimize this solution.
Definition: ProblemDefinition.h:130
std::size_t getSolutionCount() const
Get the number of solutions already found.
Definition: ProblemDefinition.cpp:404
std::string plannerName_
Name of planner type that generated this solution, as received from Planner::getName() ...
Definition: ProblemDefinition.h:136
bool operator<(const PlannerSolution &b) const
Define a ranking for solutions.
Definition: ProblemDefinition.cpp:148
bool getSolution(PlannerSolution &solution) const
Return true if a top solution is found, with the top solution passed by reference in the function hea...
Definition: ProblemDefinition.cpp:414
void getInputStates(std::vector< const State *> &states) const
Get all the input states. This includes start states and states that are part of goal regions that ca...
Definition: ProblemDefinition.cpp:261
bool isTrivial(unsigned int *startIndex=nullptr, double *distance=nullptr) const
A problem is trivial if a given starting state already in the goal region, so we need no motion plann...
Definition: ProblemDefinition.cpp:367
static const unsigned int TEST_STATE_COUNT
When multiple states need to be generated as part of the computation of various information (usually ...
Definition: MagicConstants.h:101
bool hasSolution() const
Returns true if a solution path has been found (could be approximate)
Definition: ProblemDefinition.cpp:399
double getSolutionDifference() const
Get the distance to the desired goal for the top solution. Return -1.0 if there are no solutions avai...
Definition: ProblemDefinition.cpp:446
double difference_
The achieved difference between the found solution and the desired goal.
Definition: ProblemDefinition.h:124
void setGoalState(const State *goal, double threshold=std::numeric_limits< double >::epsilon())
A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is ...
Definition: ProblemDefinition.cpp:175
double length_
For efficiency reasons, keep the length of the path as well.
Definition: ProblemDefinition.h:118
void setPlannerName(const std::string &name)
Set the name of the planner used to compute this solution.
Definition: ProblemDefinition.h:105
A shared pointer wrapper for ompl::base::Path.