SpaceInformation.cpp
51 throw Exception("The minimum number of steps cannot be larger than the maximum number of steps");
56 OMPL_WARN("Assuming propagation will always have between %d and %d steps", minSteps_, maxSteps_);
74 ompl::control::DirectedControlSamplerPtr ompl::control::SpaceInformation::allocDirectedControlSampler() const
83 void ompl::control::SpaceInformation::setDirectedControlSamplerAllocator(const DirectedControlSamplerAllocator &dcsa)
101 BoostFnStatePropagator(SpaceInformation *si, const StatePropagatorFn &fn) : StatePropagator(si), fn_(fn)
105 virtual void propagate(const base::State *state, const Control *control, const double duration, base::State *result) const
116 setStatePropagator(StatePropagatorPtr(dynamic_cast<StatePropagator*>(new BoostFnStatePropagator(this, fn))));
129 void ompl::control::SpaceInformation::propagate(const base::State *state, const Control *control, int steps, base::State *result) const
147 unsigned int ompl::control::SpaceInformation::propagateWhileValid(const base::State *state, const Control *control, int steps, base::State *result) const
204 void ompl::control::SpaceInformation::propagate(const base::State *state, const Control *control, int steps, std::vector<base::State*> &result, bool alloc) const
237 unsigned int ompl::control::SpaceInformation::propagateWhileValid(const base::State *state, const Control *control, int steps, std::vector<base::State*> &result, bool alloc) const
ControlSpacePtr controlSpace_
The control space describing the space of controls applicable to states in the state space...
Definition: SpaceInformation.h:273
virtual void printSettings(std::ostream &out=std::cout) const
Print information about the current instance of the state space.
Definition: SpaceInformation.cpp:294
boost::function< void(const base::State *, const Control *, const double, base::State *)> StatePropagatorFn
A function that achieves state propagation.
Definition: SpaceInformation.h:66
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:147
virtual void printSettings(std::ostream &out=std::cout) const
Print information about the current instance of the state space.
Definition: SpaceInformation.cpp:421
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
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition: SpaceInformation.h:98
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:129
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
StatePropagatorPtr statePropagator_
The state propagator used to model the motion of the system being planned for.
Definition: SpaceInformation.h:276
Model the effect of controls on system states.
Definition: StatePropagator.h:62
DirectedControlSamplerAllocator dcsa_
Optional allocator for the DirectedControlSampler. If not specified, the default implementation is us...
Definition: SpaceInformation.h:285
DirectedControlSamplerPtr allocDirectedControlSampler() const
Allocate an instance of the DirectedControlSampler to use. This will be the default (SimpleDirectedCo...
Definition: SpaceInformation.cpp:74
boost::function< DirectedControlSamplerPtr(const SpaceInformation *)> DirectedControlSamplerAllocator
Definition of a function that can allocate a directed control sampler.
Definition: DirectedControlSampler.h:104
Abstract definition of a steered control sampler. It uses the steering function in a state propagator...
Definition: SteeredControlSampler.h:53
void copyState(State *destination, const State *source) const
Copy a state to another.
Definition: SpaceInformation.h:244
bool setup_
Flag indicating whether setup() has been called on this instance.
Definition: SpaceInformation.h:415
Implementation of a simple directed control sampler. This is a basic implementation that does not act...
Definition: SimpleDirectedControlSampler.h:60
void setDirectedControlSamplerAllocator(const DirectedControlSamplerAllocator &dcsa)
Set the allocator to use for the DirectedControlSampler.
Definition: SpaceInformation.cpp:83
A boost shared pointer wrapper for ompl::control::DirectedControlSampler.
void clearDirectedSamplerAllocator()
Reset the DirectedControlSampler to be the default one.
Definition: SpaceInformation.cpp:89
virtual void setup()
Perform additional setup tasks (run once, before use). If state validity checking resolution has not ...
Definition: SpaceInformation.cpp:57
unsigned int maxSteps_
The maximum number of steps to apply a control for.
Definition: SpaceInformation.h:282
bool canPropagateBackward() const
Some systems can only propagate forward in time (i.e., the steps argument for the propagate() functio...
Definition: SpaceInformation.cpp:124
unsigned int minSteps_
The minimum number of steps to apply a control for.
Definition: SpaceInformation.h:279
void setStatePropagator(const StatePropagatorFn &fn)
Set the function that performs state propagation.
Definition: SpaceInformation.cpp:95
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
virtual void setup()
Perform additional setup tasks (run once, before use)
Definition: SpaceInformation.cpp:45