appUtil.h
1 /*********************************************************************
2 * Rice University Software Distribution License
3 *
4 * Copyright (c) 2010, Rice University
5 * All Rights Reserved.
6 *
7 * For a full description see the file named LICENSE.
8 *
9 *********************************************************************/
10 
11 /* Author: Ioan Sucan */
12 
13 #include <ompl/base/ProblemDefinition.h>
14 #include <ompl/control/planners/syclop/Decomposition.h>
15 #include "omplapp/geometry/RigidBodyGeometry.h"
16 
17 namespace ompl
18 {
19 
20  namespace app
21  {
22 
23  void InferProblemDefinitionBounds(const base::ProblemDefinitionPtr &pdef, const GeometricStateExtractor &se, double factor, double add,
24  unsigned int robotCount, const base::StateSpacePtr &space, MotionModel mtype);
25  void InferEnvironmentBounds(const base::StateSpacePtr &space, const RigidBodyGeometry &rbg);
26 
27  base::ProjectionEvaluatorPtr allocGeometricStateProjector(const base::StateSpacePtr &space, MotionModel mtype,
28  const base::StateSpacePtr &gspace, const GeometricStateExtractor &se);
29 
32  control::DecompositionPtr allocDecomposition(const base::StateSpacePtr &space, MotionModel mtype,
33  const base::StateSpacePtr &gspace);
34 
37  ompl::base::OptimizationObjectivePtr getOptimizationObjective(const base::SpaceInformationPtr &si, const std::string &objective, double threshold);
38 
39  }
40 
41 }
ompl::base::OptimizationObjectivePtr getOptimizationObjective(const base::SpaceInformationPtr &si, const std::string &objective, double threshold)
Create an optimization objective. The objective name can be: "length", "max min clearance", or "mechanical work".
Definition: appUtil.cpp:256
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
MotionModel
Specify whether bodies are moving in 2D or bodies moving in 3D.
control::DecompositionPtr allocDecomposition(const base::StateSpacePtr &space, MotionModel mtype, const base::StateSpacePtr &gspace)
Allocate a default 2D/3D grid decomposition (depending on the MotionModel) for use with the SyclopEST...
Definition: appUtil.cpp:245
A shared pointer wrapper for ompl::base::OptimizationObjective.