ompl::geometric::SimpleSetup Class Reference

Create the set of classes typically needed to solve a geometric problem. More...

#include <ompl/geometric/SimpleSetup.h>

Inheritance diagram for ompl::geometric::SimpleSetup:

## Public Member Functions

SimpleSetup (const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.

SimpleSetup (const base::StateSpacePtr &space)
Constructor needs the state space used for planning.

const base::SpaceInformationPtrgetSpaceInformation () const
Get the current instance of the space information.

const base::ProblemDefinitionPtrgetProblemDefinition () const
Get the current instance of the problem definition.

const base::StateSpacePtrgetStateSpace () const
Get the current instance of the state space.

const base::StateValidityCheckerPtrgetStateValidityChecker () const
Get the current instance of the state validity checker.

const base::GoalPtrgetGoal () const
Get the current goal definition.

const base::PlannerPtrgetPlanner () const
Get the current planner.

const base::PlannerAllocatorgetPlannerAllocator () const
Get the planner allocator.

const PathSimplifierPtrgetPathSimplifier () const
Get the path simplifier.

PathSimplifierPtrgetPathSimplifier ()
Get the path simplifier.

const base::OptimizationObjectivePtrgetOptimizationObjective () const
Get the optimization objective to use.

bool haveExactSolutionPath () const
Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate)

bool haveSolutionPath () const
Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.

const std::string getSolutionPlannerName () const
Get the best solution's planer name. Throw an exception if no solution is available.

PathGeometricgetSolutionPath () const
Get the solution path. Throw an exception if no solution is available.

void getPlannerData (base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.

void setStateValidityChecker (const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.

void setStateValidityChecker (const base::StateValidityCheckerFn &svc)
Set the state validity checker to use.

void setOptimizationObjective (const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.

void setStartAndGoalStates (const base::ScopedState<> &start, const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
Set the start and goal states to use.

void addStartState (const base::ScopedState<> &state)
Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.

void clearStartStates ()
Clear the currently set starting states.

void setStartState (const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.

void setGoalState (const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.

void setGoal (const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.

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. If no planner allocator is available either, a default planner is set.

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 default planner will be used if no planner is otherwise specified.

virtual base::PlannerStatus solve (double time=1.0)
Run the planner for up to a specified amount of time (default is 1 second)

virtual base::PlannerStatus solve (const base::PlannerTerminationCondition &ptc)
Run the planner until ptc becomes true (at most)

base::PlannerStatus getLastPlannerStatus () const
Return the status of the last planning attempt.

double getLastPlanComputationTime () const
Get the amount of time (in seconds) spent during the last planning step.

double getLastSimplificationTime () const
Get the amount of time (in seconds) spend during the last path simplification step.

void simplifySolution (double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification process. If duration is 0 (the default), a default simplification procedure is executed.

void simplifySolution (const base::PlannerTerminationCondition &ptc)
Attempt to simplify the current solution path. Stop computation when ptc becomes true at the latest.

virtual void clear ()
Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.

virtual void print (std::ostream &out=std::cout) const
Print information about the current setup.

virtual void setup ()
This method will create the necessary classes for planning. The solve() method will call this function automatically.

## Protected Attributes

base::SpaceInformationPtr si_
The created space information.

base::ProblemDefinitionPtr pdef_
The created problem definition.

base::PlannerPtr planner_
The maintained planner instance.

base::PlannerAllocator pa_
The optional planner allocator.

PathSimplifierPtr psk_
The instance of the path simplifier.

bool configured_
Flag indicating whether the classes needed for planning are set up.

double planTime_
The amount of time the last planning step took.

double simplifyTime_
The amount of time the last path simplification step took.

base::PlannerStatus lastStatus_
The status of the last planning request.

## Detailed Description

Create the set of classes typically needed to solve a geometric problem.

Definition at line 63 of file SimpleSetup.h.

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