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SpaceInformation.cpp
72 throw Exception("The minimum number of steps cannot be larger than the maximum number of steps");
95ompl::control::DirectedControlSamplerPtr ompl::control::SpaceInformation::allocDirectedControlSampler() const
122 FnStatePropagator(SpaceInformation *si, StatePropagatorFn fn) : StatePropagator(si), fn_(std::move(fn))
149void ompl::control::SpaceInformation::propagate(const base::State *state, const Control *control, int steps,
168unsigned int ompl::control::SpaceInformation::propagateWhileValid(const base::State *state, const Control *control,
223void ompl::control::SpaceInformation::propagate(const base::State *state, const Control *control, int steps,
257unsigned int ompl::control::SpaceInformation::propagateWhileValid(const base::State *state, const Control *control,
virtual void setup()
Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...
Definition SpaceInformation.cpp:58
double getStateValidityCheckingResolution() const
Get the resolution at which state validity is verified. This call is only applicable if a ompl::base:...
Definition SpaceInformation.h:202
virtual void printSettings(std::ostream &out=std::cout) const
Print information about the current instance of the state space.
Definition SpaceInformation.cpp:429
void copyState(State *destination, const State *source) const
Copy a state to another.
Definition SpaceInformation.h:251
double getMaximumExtent() const
Get the maximum extent of the space we are planning in. This is the maximum distance that could be re...
Definition SpaceInformation.h:297
bool setup_
Flag indicating whether setup() has been called on this instance.
Definition SpaceInformation.h:448
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition SpaceInformation.h:94
A shared pointer wrapper for ompl::control::StatePropagator.
A shared pointer wrapper for ompl::control::ControlSpace.
SpaceInformation(const base::StateSpacePtr &stateSpace, ControlSpacePtr controlSpace)
Constructor. Sets the instance of the state and control spaces to plan with.
Definition SpaceInformation.cpp:45
DirectedControlSamplerPtr allocDirectedControlSampler() const
Allocate an instance of the DirectedControlSampler to use. This will be the default (SimpleDirectedCo...
Definition SpaceInformation.cpp:95
void printSettings(std::ostream &out=std::cout) const override
Print information about the current instance of the state space.
Definition SpaceInformation.cpp:315
unsigned int minSteps_
The minimum number of steps to apply a control for.
Definition SpaceInformation.h:306
DirectedControlSamplerAllocator dcsa_
Optional allocator for the DirectedControlSampler. If not specified, the default implementation is us...
Definition SpaceInformation.h:313
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
Definition SpaceInformation.h:167
void setStatePropagator(const StatePropagatorFn &fn)
Set the function that performs state propagation.
Definition SpaceInformation.cpp:117
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
Definition SpaceInformation.h:215
void setup() override
Perform additional setup tasks (run once, before use)
Definition SpaceInformation.cpp:65
void setPropagationStepSize(double stepSize)
When controls are applied to states, they are applied for a time duration that is an integer multiple...
Definition SpaceInformation.h:208
ControlSpacePtr controlSpace_
The control space describing the space of controls applicable to states in the state space.
Definition SpaceInformation.h:300
void setDirectedControlSamplerAllocator(const DirectedControlSamplerAllocator &dcsa)
Set the allocator to use for the DirectedControlSampler.
Definition SpaceInformation.cpp:105
bool canPropagateBackward() const
Some systems can only propagate forward in time (i.e., the steps argument for the propagate() functio...
Definition SpaceInformation.cpp:144
unsigned int maxSteps_
The maximum number of steps to apply a control for.
Definition SpaceInformation.h:309
void propagate(const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting a a given state, with a given control,...
Definition SpaceInformation.cpp:149
void setMaxControlDuration(unsigned int maxSteps)
Set the minimum and maximum number of steps a control is propagated for.
Definition SpaceInformation.h:161
void clearDirectedSamplerAllocator()
Reset the DirectedControlSampler to be the default one.
Definition SpaceInformation.cpp:111
unsigned int getMaxControlDuration() const
Get the maximum number of steps a control is propagated for.
Definition SpaceInformation.h:173
StatePropagatorPtr statePropagator_
The state propagator used to model the motion of the system being planned for.
Definition SpaceInformation.h:303
void declareParams()
Definition SpaceInformation.cpp:52
unsigned int propagateWhileValid(const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting at a given state, with a given control,...
Definition SpaceInformation.cpp:168
void setMinControlDuration(unsigned int minSteps)
Set the minimum number of steps a control is propagated for.
Definition SpaceInformation.h:155
Model the effect of controls on system states.
Definition StatePropagator.h:62
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
std::function< DirectedControlSamplerPtr(const SpaceInformation *)> DirectedControlSamplerAllocator
Definition of a function that can allocate a directed control sampler.
Definition DirectedControlSampler.h:103
std::function< void(const base::State *, const Control *, const double, base::State *)> StatePropagatorFn
A function that achieves state propagation.
Definition SpaceInformation.h:65
STL namespace.