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SelfConfig.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_TOOLS_SELF_CONFIG_
00038 #define OMPL_TOOLS_SELF_CONFIG_
00039 
00040 #include "ompl/config.h"
00041 #include "ompl/base/SpaceInformation.h"
00042 #include <iostream>
00043 #include <string>
00044 
00045 namespace ompl
00046 {
00048     namespace tools
00049     {
00050 
00054         class SelfConfig
00055         {
00056         public:
00057 
00061             SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());
00062 
00064             double getProbabilityOfValidState(void);
00065 
00067             double getAverageValidMotionLength(void);
00068 
00072             void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj);
00073 
00077             void configureValidStateSamplingAttempts(unsigned int &attempts);
00078 
00080             void configurePlannerRange(double &range);
00081 
00083             void print(std::ostream &out = std::cout) const;
00084 
00085         private:
00086 
00088             class SelfConfigImpl;
00089 
00090             SelfConfigImpl *impl_;
00091             std::string     context_;
00093         };
00094     }
00095 }
00096 
00097 #endif
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