ompl::base::ConstrainedSpaceInformation Class Reference

Space information for a constrained state space. Implements more direct for getting motion states. More...

#include <ompl/base/ConstrainedSpaceInformation.h>

Inheritance diagram for ompl::base::ConstrainedSpaceInformation:

## Public Member Functions

ConstrainedSpaceInformation (StateSpacePtr space)
Constructor. Sets the instance of the state space to plan with.

unsigned int getMotionStates (const State *s1, const State *s2, std::vector< State * > &states, unsigned int, bool endpoints, bool) const override
Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. Uses the constrained state space's manifold traversal method to obtain states. Will always allocate states. More...

Public Member Functions inherited from ompl::base::SpaceInformation
SpaceInformation (const SpaceInformation &)=delete

SpaceInformationoperator= (const SpaceInformation &)=delete

SpaceInformation (StateSpacePtr space)
Constructor. Sets the instance of the state space to plan with.

bool isValid (const State *state) const
Check if a given state is valid or not.

const StateSpacePtrgetStateSpace () const
Return the instance of the used state space.

unsigned int getStateDimension () const
Return the dimension of the state space.

double getSpaceMeasure () const
Get a measure of the space (this can be thought of as a generalization of volume)

bool equalStates (const State *state1, const State *state2) const
Check if two states are the same.

bool satisfiesBounds (const State *state) const
Check if a state is inside the bounding box.

double distance (const State *state1, const State *state2) const
Compute the distance between two states.

void enforceBounds (State *state) const
Bring the state within the bounds of the state space.

void printState (const State *state, std::ostream &out=std::cout) const
Print a state to a stream.

void setStateValidityChecker (const StateValidityCheckerPtr &svc)
Set the instance of the state validity checker to use. Parallel implementations of planners assume this validity checker is thread safe.

void setStateValidityChecker (const StateValidityCheckerFn &svc)
If no state validity checking class is specified (StateValidityChecker), a function can be specified instead. This version however incurs a small additional overhead when calling the function, since there is one more level of indirection.

const StateValidityCheckerPtrgetStateValidityChecker () const
Return the instance of the used state validity checker.

void setMotionValidator (const MotionValidatorPtr &mv)
Set the instance of the motion validity checker to use. Parallel implementations of planners assume this validity checker is thread safe.

const MotionValidatorPtrgetMotionValidator () const
Return the instance of the used state validity checker.

MotionValidatorPtrgetMotionValidator ()
Return the non-const instance of the used state validity checker.

void setStateValidityCheckingResolution (double resolution)
Set the resolution at which state validity needs to be verified in order for a motion between two states to be considered valid. This value is specified as a fraction of the space's extent. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking.

double getStateValidityCheckingResolution () const
Get the resolution at which state validity is verified. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking.

StateallocState () const
Allocate memory for a state.

void allocStates (std::vector< State * > &states) const
Allocate memory for each element of the array states.

void freeState (State *state) const
Free the memory of a state.

void freeStates (std::vector< State * > &states) const
Free the memory of an array of states.

void copyState (State *destination, const State *source) const
Copy a state to another.

StatecloneState (const State *source) const
Clone a state.

StateSamplerPtr allocStateSampler () const
Allocate a uniform state sampler for the state space.

ValidStateSamplerPtr allocValidStateSampler () const
Allocate an instance of a valid state sampler for this space. If setValidStateSamplerAllocator() was previously called, the specified allocator is used to produce the state sampler. Otherwise, a ompl::base::UniformValidStateSampler() is allocated.

void setValidStateSamplerAllocator (const ValidStateSamplerAllocator &vssa)
Set the allocator to use for a valid state sampler. This replaces the default uniform valid state sampler. This call can be made at any time, but it should not be changed while ompl::base::Planner::solve() is executing.

void clearValidStateSamplerAllocator ()
Clear the allocator used for the valid state sampler. This will revert to using the uniform valid state sampler (the default).

double getMaximumExtent () const
Get the maximum extent of the space we are planning in. This is the maximum distance that could be reported between any two given states.

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. The two passed state pointers need not point to different memory. Returns true on success. More...

bool searchValidNearby (const ValidStateSamplerPtr &sampler, State *state, const State *near, double distance) const
Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. More...

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). More...

virtual 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 valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid. More...

virtual bool checkMotion (const State *s1, const State *s2) const
Check if the path between two states (from s1 to s2) is valid, using the MotionValidator. This function assumes s1 is valid.

bool checkMotion (const std::vector< State * > &states, unsigned int count, unsigned int &firstInvalidStateIndex) const
Incrementally check if a sequence of states is valid. Given a vector of states, this routine only checks the first count elements and marks the index of the first invalid state. More...

bool checkMotion (const std::vector< State * > &states, unsigned int count) const
Check if a sequence of states is valid using subdivision.

unsigned int getCheckedMotionCount () const
Get the total number of motion segments checked by the MotionValidator so far.

double probabilityOfValidState (unsigned int attempts) const
Estimate probability of sampling a valid state. setup() is assumed to have been called.

double averageValidMotionLength (unsigned int attempts) const
Estimate the length of a valid motion. setup() is assumed to have been called.

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 allocStateSampler()

virtual void printSettings (std::ostream &out=std::cout) const
Print information about the current instance of the state space.

virtual void printProperties (std::ostream &out=std::cout) const
Print properties of the current instance of the state space.

ParamSetparams ()
Get the combined parameters for the classes that the space information manages.

const ParamSetparams () const
Get the combined parameters for the classes that the space information manages.

virtual void setup ()
Perform additional setup tasks (run once, before use). If state validity checking resolution has not been set, estimateMaxResolution() is called to estimate it.

bool isSetup () const
Return true if setup was called.

## Additional Inherited Members

Protected Member Functions inherited from ompl::base::SpaceInformation
void setDefaultMotionValidator ()
Set default motion validator for the state space.

Protected Attributes inherited from ompl::base::SpaceInformation
StateSpacePtr stateSpace_
The state space planning is to be performed in.

StateValidityCheckerPtr stateValidityChecker_
The instance of the state validity checker used for determining the validity of states in the planning process.

MotionValidatorPtr motionValidator_
The instance of the motion validator to use when determining the validity of motions in the planning process.

bool setup_
Flag indicating whether setup() has been called on this instance.

ValidStateSamplerAllocator vssa_
The optional valid state sampler allocator.

ParamSet params_
Combined parameters for the contained classes.

## Detailed Description

Space information for a constrained state space. Implements more direct for getting motion states.

Definition at line 109 of file ConstrainedSpaceInformation.h.

## ◆ getMotionStates()

 unsigned int ompl::base::ConstrainedSpaceInformation::getMotionStates ( const State * s1, const State * s2, std::vector< State * > & states, unsigned int , bool endpoints, bool ) const
inlineoverridevirtual

Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. Uses the constrained state space's manifold traversal method to obtain states. Will always allocate states.

Otherwise, fewer states can be returned.

Parameters
 s1 the start state of the considered motion s2 the end state of the considered motion states the computed set of states along the specified motion count is currently ignored endpoints flag indicating whether s1 and s2 are to be included in states alloc is currently ignored

Reimplemented from ompl::base::SpaceInformation.

Reimplemented in ompl::base::TangentBundleSpaceInformation.

Definition at line 133 of file ConstrainedSpaceInformation.h.

The documentation for this class was generated from the following file: