SpaceInformation.h
301 bool searchValidNearby(State *state, const State *near, double distance, unsigned int attempts) const;
310 bool searchValidNearby(const ValidStateSamplerPtr &sampler, State *state, const State *near, double distance) const;
318 unsigned int randomBounceMotion(const StateSamplerPtr &sss, const State *start, unsigned int steps, std::vector<State*> &states, bool alloc) const;
343 bool checkMotion(const std::vector<State*> &states, unsigned int count, unsigned int &firstInvalidStateIndex) const;
358 unsigned int getMotionStates(const State *s1, const State *s2, std::vector<State*> &states, unsigned int count, bool endpoints, bool alloc) const;
372 void samplesPerSecond(double &uniform, double &near, double &gaussian, unsigned int attempts) const;
unsigned int getStateDimension() const
Return the dimension of the state space.
Definition: SpaceInformation.h:209
boost::function< ValidStateSamplerPtr(const SpaceInformation *)> ValidStateSamplerAllocator
Definition of a function that can allocate a valid state sampler.
Definition: ValidStateSampler.h:135
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition: SpaceInformation.h:104
void setStateValidityCheckingResolution(double resolution)
Set the resolution at which state validity needs to be verified in order for a motion between two sta...
Definition: SpaceInformation.h:190
A boost shared pointer wrapper for ompl::base::ValidStateSampler.
double probabilityOfValidState(unsigned int attempts) const
Estimate probability of sampling a valid state. setup() is assumed to have been called.
Definition: SpaceInformation.cpp:330
double averageValidMotionLength(unsigned int attempts) const
Estimate the length of a valid motion. setup() is assumed to have been called.
Definition: SpaceInformation.cpp:355
A boost shared pointer wrapper for ompl::base::StateSpace.
MotionValidatorPtr motionValidator_
The instance of the motion validator to use when determining the validity of motions in the planning ...
Definition: SpaceInformation.h:412
A boost shared pointer wrapper for ompl::base::StateSampler.
void setStateValidityChecker(const StateValidityCheckerPtr &svc)
Set the instance of the state validity checker to use. Parallel implementations of planners assume th...
Definition: SpaceInformation.h:150
StateSamplerPtr allocStateSampler() const
Allocate a uniform state sampler for the state space.
Definition: SpaceInformation.h:264
void samplesPerSecond(double &uniform, double &near, double &gaussian, unsigned int attempts) const
Estimate the number of samples that can be drawn per second, using the sampler returned by allocState...
Definition: SpaceInformation.cpp:394
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition: SpaceInformation.h:98
const MotionValidatorPtr & getMotionValidator() const
Return the instance of the used state validity checker.
Definition: SpaceInformation.h:179
bool searchValidNearby(State *state, const State *near, double distance, unsigned int attempts) const
Find a valid state near a given one. If the given state is valid, it will be returned itself...
Definition: SpaceInformation.cpp:181
boost::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a boost function can be spec...
Definition: SpaceInformation.h:80
ValidStateSamplerPtr allocValidStateSampler() const
Allocate an instance of a valid state sampler for this space. If setValidStateSamplerAllocator() was ...
Definition: SpaceInformation.cpp:322
double getStateValidityCheckingResolution() const
Get the resolution at which state validity is verified. This call is only applicable if a ompl::base:...
Definition: SpaceInformation.h:200
unsigned int getMotionStates(const State *s1, const State *s2, std::vector< State *> &states, unsigned int count, bool endpoints, bool alloc) const
Get count states that make up a motion between s1 and s2. Returns the number of states that were adde...
Definition: SpaceInformation.cpp:198
void setDefaultMotionValidator()
Set default motion validator for the state space.
Definition: SpaceInformation.cpp:110
bool equalStates(const State *state1, const State *state2) const
Check if two states are the same.
Definition: SpaceInformation.h:113
ParamSet & params()
Get the combined parameters for the classes that the space information manages.
Definition: SpaceInformation.h:381
A boost shared pointer wrapper for ompl::base::StateValidityChecker.
const ParamSet & params() const
Get the combined parameters for the classes that the space information manages.
Definition: SpaceInformation.h:387
StateSpacePtr stateSpace_
The state space planning is to be performed in.
Definition: SpaceInformation.h:406
void setValidStateSamplerAllocator(const ValidStateSamplerAllocator &vssa)
Set the allocator to use for a valid state sampler. This replaces the default uniform valid state sam...
Definition: SpaceInformation.cpp:121
void printState(const State *state, std::ostream &out=std::cout) const
Print a state to a stream.
Definition: SpaceInformation.h:137
bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box.
Definition: SpaceInformation.h:119
virtual void printSettings(std::ostream &out=std::cout) const
Print information about the current instance of the state space.
Definition: SpaceInformation.cpp:421
A boost shared pointer wrapper for ompl::base::MotionValidator.
void copyState(State *destination, const State *source) const
Copy a state to another.
Definition: SpaceInformation.h:244
const StateValidityCheckerPtr & getStateValidityChecker() const
Return the instance of the used state validity checker.
Definition: SpaceInformation.h:164
bool setup_
Flag indicating whether setup() has been called on this instance.
Definition: SpaceInformation.h:415
void enforceBounds(State *state) const
Bring the state within the bounds of the state space.
Definition: SpaceInformation.h:131
StateValidityCheckerPtr stateValidityChecker_
The instance of the state validity checker used for determining the validity of states in the plannin...
Definition: SpaceInformation.h:409
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
virtual void setup()
Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...
Definition: SpaceInformation.cpp:57
SpaceInformation(const StateSpacePtr &space)
Constructor. Sets the instance of the state space to plan with.
Definition: SpaceInformation.cpp:48
virtual void printProperties(std::ostream &out=std::cout) const
Print properties of the current instance of the state space.
Definition: SpaceInformation.cpp:435
void freeStates(std::vector< State *> &states) const
Free the memory of an array of states.
Definition: SpaceInformation.h:237
bool checkMotion(const State *s1, const State *s2) const
Check if the path between two states (from s1 to s2) is valid, using subdivision. This function assum...
Definition: SpaceInformation.h:333
bool checkMotion(const State *s1, const State *s2, std::pair< State *, double > &lastValid) const
Incrementally check if the path between two motions is valid. Also compute the last state that was va...
Definition: SpaceInformation.h:326
void clearValidStateSamplerAllocator()
Clear the allocator used for the valid state sampler. This will revert to using the uniform valid sta...
Definition: SpaceInformation.cpp:127
ValidStateSamplerAllocator vssa_
The optional valid state sampler allocator.
Definition: SpaceInformation.h:418
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:289
unsigned int randomBounceMotion(const StateSamplerPtr &sss, const State *start, unsigned int steps, std::vector< State *> &states, bool alloc) const
Produce a valid motion starting at start by randomly bouncing off of invalid states. The start state start is not included in the computed motion (states). Returns the number of elements written to states (less or equal to steps).
Definition: SpaceInformation.cpp:133
void allocStates(std::vector< State *> &states) const
Allocate memory for each element of the array states.
Definition: SpaceInformation.h:224
void setMotionValidator(const MotionValidatorPtr &mv)
Set the instance of the motion validity checker to use. Parallel implementations of planners assume t...
Definition: SpaceInformation.h:172
double distance(const State *state1, const State *state2) const
Compute the distance between two states.
Definition: SpaceInformation.h:125