AppBase.h
50 {
68 virtual base::ScopedState<> getFullStateFromGeometricComponent(const base::ScopedState<> &state) const = 0;
70 virtual base::ScopedState<> getGeometricComponentState(const base::ScopedState<> &state, unsigned int index) const
72 return base::ScopedState<>(getGeometricComponentStateSpace(), getGeometricComponentStateInternal(state.get(), index));
89 InferEnvironmentBounds(getGeometricComponentStateSpace(), *static_cast<RigidBodyGeometry*>(this));
94 InferProblemDefinitionBounds(AppTypeSelector<T>::SimpleSetup::getProblemDefinition(), getGeometricStateExtractor(), factor_, add_,
110 const base::StateValidityCheckerPtr &svc = allocStateValidityChecker(AppTypeSelector<T>::SimpleSetup::si_,
111 getGeometricStateExtractor(), isSelfCollisionEnabled());
119 registerDefaultProjection(allocGeometricStateProjector(AppTypeSelector<T>::SimpleSetup::getStateSpace(),
142 virtual const base::State* getGeometricComponentStateInternal(const base::State* state, unsigned int index) const = 0;
const base::OptimizationObjectivePtr & getOptimizationObjective() const
Get the optimization objective to use.
Definition: SimpleSetup.h:196
RigidBodyGeometry(MotionModel mtype, CollisionChecker ctype)
Constructor expects a state space that can represent a rigid body.
Definition: RigidBodyGeometry.h:57
MotionModel
Specify whether bodies are moving in 2D or bodies moving in 3D.
Definition: GeometrySpecification.h:41
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:124
void setOptimizationObjectiveAndThreshold(const std::string &objective, double threshold)
Convenience function for the omplapp GUI. The objective can be one of: "length", "max min clearance",...
Definition: AppBase.h:141
Definition: AppBase.h:57
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:154
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:58
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:124
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:234
Definition: AppBase.h:43
control::DecompositionPtr allocDecomposition(const base::StateSpacePtr &space, MotionModel mtype, const base::StateSpacePtr &gspace)
Allocate a default 2D/3D grid decomposition (depending on the MotionModel) for use with the SyclopEST...
Definition: appUtil.cpp:244
const base::StateValidityCheckerPtr & allocStateValidityChecker(const base::SpaceInformationPtr &si, const GeometricStateExtractor &se, bool selfCollision)
Allocate default state validity checker using FCL.
Definition: RigidBodyGeometry.cpp:174
const base::StateValidityCheckerPtr & getStateValidityChecker() const
Get the current instance of the state validity checker.
Definition: SimpleSetup.h:160
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:245
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the current instance of the problem definition.
Definition: SimpleSetup.h:142
void setup() override
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: AppBase.h:111
double factor_
The factor to multiply inferred environment bounds by (default 1)
Definition: RigidBodyGeometry.h:168
double add_
The value to add to inferred environment bounds (default 0)
Definition: RigidBodyGeometry.h:171