SelfConfig.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_SELF_CONFIG_
38 #define OMPL_TOOLS_SELF_CONFIG_
39 
40 #include "ompl/config.h"
41 #include "ompl/base/Goal.h"
42 #include "ompl/base/Planner.h"
43 #include "ompl/base/SpaceInformation.h"
44 #include "ompl/datastructures/NearestNeighborsSqrtApprox.h"
45 #include "ompl/datastructures/NearestNeighborsGNAT.h"
46 #include <iostream>
47 #include <string>
48 
49 namespace ompl
50 {
52  namespace tools
53  {
54 
58  class SelfConfig
59  {
60  public:
61 
65  SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());
66 
67  ~SelfConfig();
68 
71 
74 
78  void configureValidStateSamplingAttempts(unsigned int &attempts);
79 
81  void configurePlannerRange(double &range);
82 
87 
89  void print(std::ostream &out = std::cout) const;
90 
92  template<typename _T>
94  {
95  if (space->isMetricSpace())
96  return new NearestNeighborsGNAT<_T>();
97  else
98  return new NearestNeighborsSqrtApprox<_T>();
99  }
100 
103 
104  private:
105 
107  class SelfConfigImpl;
108 
109  SelfConfigImpl *impl_;
110  std::string context_;
112  };
113  }
114 }
115 
116 #endif
A boost shared pointer wrapper for ompl::base::StateSpace.
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...
void print(std::ostream &out=std::cout) const
Print the computed configuration parameters.
Definition: SelfConfig.cpp:244
Main namespace. Contains everything in this library.
Definition: Cost.h:42
A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...
A boost shared pointer wrapper for ompl::base::Planner.
static NearestNeighbors< _T > * getDefaultNearestNeighbors(const base::StateSpacePtr &space)
Select a default nearest neighbor datastructure for the given space.
Definition: SelfConfig.h:93
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
Abstract representation of a container that can perform nearest neighbors queries.
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
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:58
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