SelfConfig.cpp
106 OMPL_ERROR("%sUnable to detect planner range. SpaceInformation instance has expired.", context.c_str());
110 void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj, const std::string &context)
129 out << "Configuration parameters for space '" << si->getStateSpace()->getName() << "'" << std::endl;
177 ompl::tools::SelfConfig::SelfConfig(const base::SpaceInformationPtr &si, const std::string &context) :
257 control::SpaceInformationPtr siC(boost::dynamic_pointer_cast<control::SpaceInformation, base::SpaceInformation>(si));
void print(std::ostream &out=std::cout) const
Print the computed configuration parameters.
Definition: SelfConfig.cpp:244
A boost shared pointer wrapper for ompl::base::Planner.
Kinematic Planning by Interior-Exterior Cell Exploration.
Definition: KPIECE1.h:74
double getAverageValidMotionLength()
Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionL...
Definition: SelfConfig.cpp:220
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
SelfConfig(const base::SpaceInformationPtr &si, const std::string &context=std::string())
Construct an instance that can configure the space encapsulated by si. Any information printed to the...
Definition: SelfConfig.cpp:177
Kinodynamic Planning by Interior-Exterior Cell Exploration.
Definition: KPIECE1.h:77
A boost shared pointer wrapper for ompl::control::SpaceInformation.
Lazy Bi-directional KPIECE with one level of discretization.
Definition: LBKPIECE1.h:78
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SelfConfig.cpp:250
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:238
double getProbabilityOfValidState()
Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidS...
Definition: SelfConfig.cpp:214
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:232
static const unsigned int TEST_STATE_COUNT
When multiple states need to be generated as part of the computation of various information (usually ...
Definition: MagicConstants.h:109
static const double MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION
For planners: if default values are to be used for the maximum length of motions, this constant defin...
Definition: MagicConstants.h:76
A boost shared pointer wrapper for ompl::base::Goal.
void configureValidStateSamplingAttempts(unsigned int &attempts)
Instances of base::ValidStateSampler need a number of attempts to be specified – the maximum number...
Definition: SelfConfig.cpp:226
static const unsigned int MAX_VALID_SAMPLE_ATTEMPTS
When multiple attempts are needed to generate valid samples, this value defines the default number of...
Definition: MagicConstants.h:98
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible...
Definition: GoalTypes.h:55