ompl::geometric::SimpleSetup Class Reference

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

#include <SimpleSetup.h>

List of all members.

Public Member Functions
	SimpleSetup (const base::StateSpacePtr &space)
	Constructor needs the state space used for planning.
const base::SpaceInformationPtr &	getSpaceInformation (void) const
	Get the current instance of the space information.
const base::ProblemDefinitionPtr &	getProblemDefinition (void) const
	Get the current instance of the problem definition.
const base::StateSpacePtr &	getStateSpace (void) const
	Get the current instance of the state space.
const base::StateValidityCheckerPtr &	getStateValidityChecker (void) const
	Get the current instance of the state validity checker.
const base::GoalPtr &	getGoal (void) const
	Get the current goal definition.
const base::PlannerPtr &	getPlanner (void) const
	Get the current planner.
const PathSimplifierPtr &	getPathSimplifier (void) const
	Get the path simplifier.
PathSimplifierPtr &	getPathSimplifier (void)
	Get the path simplifier.
bool	haveExactSolutionPath (void) const
	Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate)
bool	haveSolutionPath (void) const
	Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
PathGeometric &	getSolutionPath (void) const
	Get the solution path. Throw an exception if no solution is available.
base::PlannerData	getPlannerData (void) 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	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.
void	addStartState (const base::ScopedState<> &state)
	Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.
void	clearStartStates (void)
	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, const 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 bool	solve (double time=1.0)
	Run the planner for a specified amount of time (default is 1 second)
double	getLastPlanComputationTime (void) const
	Get the amount of time (in seconds) spent during the last planning step.
double	getLastSimplificationTime (void) const
	Get the amount of time (in seconds) spend during the last path simplification step.
void	simplifySolution (void)
	Attempt to simplify the current solution path.
virtual void	clear (void)
	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 (void)
	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.
msg::Interface	msg_
	Interface for console output.

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Detailed Description

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

Definition at line 56 of file SimpleSetup.h.

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

• src/ompl/geometric/SimpleSetup.h
• src/ompl/geometric/src/SimpleSetup.cpp