SimpleSetup.h
const base::PlannerAllocator & getPlannerAllocator() const
Get the planner allocator.
Definition: SimpleSetup.h:190
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:237
const ControlSpacePtr & getControlSpace() const
Get the current instance of the control space.
Definition: SimpleSetup.h:160
A shared pointer wrapper for ompl::base::SpaceInformation.
const base::StateValidityCheckerPtr & getStateValidityChecker() const
Get the current instance of the state validity checker.
Definition: SimpleSetup.h:166
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
Definition: SimpleSetup.cpp:44
A shared pointer wrapper for ompl::control::ControlSpace.
const SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:136
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:298
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:287
void setStartState(const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.
Definition: SimpleSetup.h:270
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SimpleSetup.cpp:39
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:235
std::function< void(const base::State *, const Control *, const double, base::State *)> StatePropagatorFn
A function that achieves state propagation.
Definition: SpaceInformation.h:127
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
Definition: SimpleSetup.cpp:137
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:243
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:124
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:58
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:350
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:109
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:506
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:92
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:250
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the current instance of the problem definition.
Definition: SimpleSetup.h:142
base::PlannerStatus getLastPlannerStatus() const
Return the status of the last planning attempt.
Definition: SimpleSetup.h:312
PathControl & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition: SimpleSetup.cpp:120
std::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...
Definition: SpaceInformation.h:137
A shared pointer wrapper for ompl::control::StatePropagator.
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:258
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
Definition: SimpleSetup.h:278
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful)....
Definition: SimpleSetup.h:201
void setStatePropagator(const StatePropagatorFn &sp)
Set the function that performs state propagation.
Definition: SimpleSetup.h:225
const StatePropagatorPtr & getStatePropagator() const
Get the instance of the state propagator being used.
Definition: SimpleSetup.h:172
base::PlannerStatus last_status_
The status of the last planning request.
Definition: SimpleSetup.h:356
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:213
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Definition: SimpleSetup.cpp:131
double getLastPlanComputationTime() const
Get the amount of time (in seconds) spent during the last planning step.
Definition: SimpleSetup.h:318
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
Definition: SimpleSetup.cpp:144
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
Definition: SimpleSetup.cpp:82
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:154