SimpleSetup.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_SIMPLE_SETUP_
38 #define OMPL_GEOMETRIC_SIMPLE_SETUP_
39 
40 #include "ompl/base/Planner.h"
41 #include "ompl/base/PlannerData.h"
42 #include "ompl/base/SpaceInformation.h"
43 #include "ompl/base/ProblemDefinition.h"
44 #include "ompl/geometric/PathGeometric.h"
45 #include "ompl/geometric/PathSimplifier.h"
46 #include "ompl/util/Console.h"
47 #include "ompl/util/Exception.h"
48 #include "ompl/util/Deprecation.h"
49 
50 namespace ompl
51 {
52  namespace geometric
53  {
55  OMPL_CLASS_FORWARD(SimpleSetup);
57 
63  class SimpleSetup
64  {
65  public:
67  explicit SimpleSetup(const base::SpaceInformationPtr &si);
68 
70  explicit SimpleSetup(const base::StateSpacePtr &space);
71 
72  virtual ~SimpleSetup() = default;
73 
75  const base::SpaceInformationPtr &getSpaceInformation() const
76  {
77  return si_;
78  }
79 
81  const base::ProblemDefinitionPtr &getProblemDefinition() const
82  {
83  return pdef_;
84  }
85 
87  base::ProblemDefinitionPtr &getProblemDefinition()
88  {
89  return pdef_;
90  }
91 
93  const base::StateSpacePtr &getStateSpace() const
94  {
95  return si_->getStateSpace();
96  }
97 
99  const base::StateValidityCheckerPtr &getStateValidityChecker() const
100  {
101  return si_->getStateValidityChecker();
102  }
103 
105  const base::GoalPtr &getGoal() const
106  {
107  return pdef_->getGoal();
108  }
109 
111  const base::PlannerPtr &getPlanner() const
112  {
113  return planner_;
114  }
115 
118  {
119  return pa_;
120  }
121 
123  const PathSimplifierPtr &getPathSimplifier() const
124  {
125  return psk_;
126  }
127 
130  {
131  return psk_;
132  }
133 
135  const base::OptimizationObjectivePtr &getOptimizationObjective() const
136  {
137  return pdef_->getOptimizationObjective();
138  }
139 
142  bool haveExactSolutionPath() const;
143 
146  bool haveSolutionPath() const
147  {
148  return pdef_->getSolutionPath() != nullptr;
149  }
150 
152  const std::string getSolutionPlannerName() const;
153 
156 
158  void getPlannerData(base::PlannerData &pd) const;
159 
161  void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
162  {
163  si_->setStateValidityChecker(svc);
164  }
165 
168  {
169  si_->setStateValidityChecker(svc);
170  }
171 
173  void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
174  {
175  pdef_->setOptimizationObjective(optimizationObjective);
176  }
177 
179  void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal,
180  double threshold = std::numeric_limits<double>::epsilon());
181 
185  {
186  pdef_->addStartState(state);
187  }
188 
191  {
192  pdef_->clearStartStates();
193  }
194 
197  {
199  addStartState(state);
200  }
201 
203  void setGoalState(const base::ScopedState<> &goal,
204  double threshold = std::numeric_limits<double>::epsilon());
205 
208  void setGoal(const base::GoalPtr &goal);
209 
214  void setPlanner(const base::PlannerPtr &planner)
215  {
216  if (planner && planner->getSpaceInformation().get() != si_.get())
217  throw Exception("Planner instance does not match space information");
218  planner_ = planner;
219  configured_ = false;
220  }
221 
226  {
227  pa_ = pa;
228  planner_.reset();
229  configured_ = false;
230  }
231 
233  virtual base::PlannerStatus solve(double time = 1.0);
234 
237 
240  {
241  return lastStatus_;
242  }
243 
246  {
247  return planTime_;
248  }
249 
252  {
253  return simplifyTime_;
254  }
255 
259  void simplifySolution(double duration = 0.0);
260 
264 
268  virtual void clear();
269 
271  virtual void print(std::ostream &out = std::cout) const;
272 
276  virtual void setup();
277 
278  protected:
280  base::SpaceInformationPtr si_;
281 
283  base::ProblemDefinitionPtr pdef_;
284 
286  base::PlannerPtr planner_;
287 
290 
293 
295  bool configured_;
296 
298  double planTime_;
299 
301  double simplifyTime_;
302 
305  };
306 
309  OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
310  }
311 }
312 #endif
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:275
const base::OptimizationObjectivePtr & getOptimizationObjective() const
Get the optimization objective to use.
Definition: SimpleSetup.h:196
const PathSimplifierPtr & getPathSimplifier() const
Get the path simplifier.
Definition: SimpleSetup.h:184
double getLastSimplificationTime() const
Get the amount of time (in seconds) spend during the last path simplification step.
Definition: SimpleSetup.h:312
A shared pointer wrapper for ompl::geometric::PathSimplifier.
double simplifyTime_
The amount of time the last path simplification step took.
Definition: SimpleSetup.h:362
base::PlannerStatus lastStatus_
The status of the last planning request.
Definition: SimpleSetup.h:365
const base::SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:136
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:356
const std::string getSolutionPlannerName() const
Get the best solution's planer name. Throw an exception if no solution is available.
void clearStartStates()
Clear the currently set starting states.
Definition: SimpleSetup.h:251
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:154
PathSimplifierPtr psk_
The instance of the path simplifier.
Definition: SimpleSetup.h:353
Definition of a geometric path.
Definition: PathGeometric.h:90
const base::PlannerPtr & getPlanner() const
Get the current planner.
Definition: SimpleSetup.h:172
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:235
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
base::PlannerPtr planner_
The maintained planner instance.
Definition: SimpleSetup.h:347
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 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:286
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:58
base::PlannerStatus getLastPlannerStatus() const
Return the status of the last planning attempt.
Definition: SimpleSetup.h:300
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:222
A class to store the exit status of Planner::solve()
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:506
PathGeometric & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
const base::GoalPtr & getGoal() const
Get the current goal definition.
Definition: SimpleSetup.h:166
SimpleSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition: SimpleSetup.cpp:44
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:234
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
void setStartState(const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.
Definition: SimpleSetup.h:257
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful)....
Definition: SimpleSetup.h:207
double getLastPlanComputationTime() const
Get the amount of time (in seconds) spent during the last planning step.
Definition: SimpleSetup.h:306
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
Definition: SimpleSetup.cpp:81
void simplifySolution(double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification p...
std::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...
base::SpaceInformationPtr si_
The created space information.
Definition: SimpleSetup.h:341
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SimpleSetup.cpp:39
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.
Definition: SimpleSetup.cpp:89
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for up to a specified amount of time (default is 1 second)
base::ProblemDefinitionPtr pdef_
The created problem definition.
Definition: SimpleSetup.h:344
Definition of a scoped state.
Definition: ScopedState.h:117
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
The exception type for ompl.
Definition: Exception.h:76
Main namespace. Contains everything in this library.
Definition: AppBase.h:20
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
base::PlannerAllocator pa_
The optional planner allocator.
Definition: SimpleSetup.h:350
double planTime_
The amount of time the last planning step took.
Definition: SimpleSetup.h:359
const base::PlannerAllocator & getPlannerAllocator() const
Get the planner allocator.
Definition: SimpleSetup.h:178