Planner.h
374 void declareParam(const std::string &name, const PlannerType &planner, const SetterType& setter, const GetterType& getter, const std::string &rangeSuggestion = "")
383 void declareParam(const std::string &name, const PlannerType &planner, const SetterType& setter, const std::string &rangeSuggestion = "")
391 void addPlannerProgressProperty(const std::string& progressPropertyName, const PlannerProgressProperty& prop)
bool approximateSolutions
Flag indicating whether the planner is able to compute approximate solutions.
Definition: Planner.h:214
void addPlannerProgressProperty(const std::string &progressPropertyName, const PlannerProgressProperty &prop)
Add a planner progress property called progressPropertyName with a property querying function prop to...
Definition: Planner.h:391
void declareParam(const std::string &name, const PlannerType &planner, const SetterType &setter, const GetterType &getter, const std::string &rangeSuggestion="")
This function declares a parameter for this planner instance, and specifies the setter and getter fun...
Definition: Planner.h:374
bool haveMoreGoalStates() const
Check if there are more potential goal states.
Definition: Planner.cpp:352
A boost shared pointer wrapper for ompl::base::ProblemDefinition.
GoalType recognizedGoal
The type of goal specification the planner can use.
Definition: Planner.h:208
boost::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:422
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
bool canReportIntermediateSolutions
Flag indicating whether the planner is able to report the computation of intermediate paths...
Definition: Planner.h:228
Definition: PlannerData.py:1
unsigned int getSeenStartStatesCount() const
Get the number of start states from the problem definition that were already seen, including invalid ones.
Definition: Planner.h:175
bool multithreaded
Flag indicating whether multiple threads are used in the computation of the planner.
Definition: Planner.h:211
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:222
PlannerInputStates(const Planner *planner)
Default constructor. No work is performed.
Definition: Planner.h:95
ParamSet params_
A map from parameter names to parameter instances for this planner. This field is populated by the de...
Definition: Planner.h:412
PlannerInputStates(const PlannerPtr &planner)
Default constructor. No work is performed.
Definition: Planner.h:88
bool provingSolutionNonExistence
Flag indicating whether the planner is able to prove that no solution path exists.
Definition: Planner.h:225
A boost shared pointer wrapper for ompl::base::Planner.
const State * nextGoal()
Same as above but only one attempt is made to find a valid goal.
Definition: Planner.cpp:264
void declareParam(const std::string &name, const PlannerType &planner, const SetterType &setter, const std::string &rangeSuggestion="")
This function declares a parameter for this planner instance, and specifies the setter function...
Definition: Planner.h:383
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A boost shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
unsigned int getSampledGoalsCount() const
Get the number of sampled goal states, including invalid ones.
Definition: Planner.h:181
bool haveMoreStartStates() const
Check if there are more potential start states.
Definition: Planner.cpp:345
const State * nextStart()
Return the next valid start state or NULL if no more valid start states are available.
Definition: Planner.cpp:230
Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...
Definition: ProblemDefinition.h:150
bool update()
Set the space information and problem definition this class operates on, based on the available plann...
Definition: Planner.cpp:176
const PlannerProgressProperties & getPlannerProgressProperties() const
Retrieve a planner's planner progress property map.
Definition: Planner.h:359
bool optimizingPaths
Flag indicating whether the planner attempts to optimize the path and reduce its length until the max...
Definition: Planner.h:218
Helper class to extract valid start & goal states. Usually used internally by planners.
Definition: Planner.h:83
void checkValidity() const
Check if the problem definition was set, start state are available and goal was set.
Definition: Planner.cpp:183
void restart()
Forget how many states were returned by nextStart() and nextGoal() and return all states again...
Definition: Planner.cpp:170
std::map< std::string, PlannerProgressProperty > PlannerProgressProperties
A dictionary which maps the name of a progress property to the function to be used for querying that ...
Definition: Planner.h:356
PlannerProgressProperties plannerProgressProperties_
A mapping between this planner's progress property names and the functions used for querying those pr...
Definition: Planner.h:415
PlannerInputStates()
Default constructor. No work is performed. A call to use() needs to be made, before making any calls ...
Definition: Planner.h:104
bool use(const ProblemDefinitionPtr &pdef)
Set the problem definition this class operates on. If a planner is not set in the constructor argumen...
Definition: Planner.cpp:207
boost::function< bool()> PlannerTerminationConditionFn
Signature for functions that decide whether termination conditions have been met for a planner...
Definition: PlannerTerminationCondition.h:56
This bit is set if casting to generic goal regions (ompl::base::Goal) is possible. This bit shold always be set.
Definition: GoalTypes.h:49
boost::function< std::string()> PlannerProgressProperty
Definition of a function which returns a property about the planner's progress that can be queried by...
Definition: Planner.h:353