The base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use. More...
#include <ompl/base/SpaceInformation.h>
Public Member Functions  
SpaceInformation (const SpaceInformation &)=delete  
SpaceInformation &  operator= (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 StateSpacePtr &  getStateSpace () 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)  
Topologyspecific state operations (as in the state space)  
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.  
Configuration of state validity checking  
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 StateValidityCheckerPtr &  getStateValidityChecker () 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 MotionValidatorPtr &  getMotionValidator () const 
Return the instance of the used state validity checker.  
MotionValidatorPtr &  getMotionValidator () 
Return the nonconst 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.  
State memory management  
State *  allocState () 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.  
State *  cloneState (const State *source) const 
Clone a state.  
Sampling of valid states  
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).  
Primitives typically used by motion planners  
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.  
virtual unsigned int  getMotionStates (const State *s1, const State *s2, std::vector< State * > &states, unsigned int count, bool endpoints, bool alloc) const 
Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. These states are not checked for validity. If states.size() >= count or alloc is true, the returned value is equal to count (or count + 2, if endpoints is true). Otherwise, fewer states can be returned. More...  
unsigned int  getCheckedMotionCount () const 
Get the total number of motion segments checked by the MotionValidator so far.  
Routines for inferring information about the state space  
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.  
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.  
ParamSet &  params () 
Get the combined parameters for the classes that the space information manages.  
const ParamSet &  params () 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.  
void  setDefaultMotionValidator () 
Set default motion validator for the state space.  
Detailed Description
The base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use.
Definition at line 81 of file SpaceInformation.h.
Member Function Documentation
◆ checkMotion() [1/2]

inlinevirtual 
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.
 Parameters

s1 start state of the motion to be checked (assumed to be valid) s2 final state of the motion to be checked lastValid first: storage for the last valid state (may be nullptr); this need not be different from s1 or s2. second: the time (between 0 and 1) of the last valid state, on the motion from s1 to s2
Reimplemented in ompl::base::TangentBundleSpaceInformation.
Definition at line 345 of file SpaceInformation.h.
◆ checkMotion() [2/2]
bool ompl::base::SpaceInformation::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.
 Parameters

states the array of states to be checked count the number of states to be checked in the array (0 to count) firstInvalidStateIndex location to store the first invalid state index. Unmodified if the function returns true
Definition at line 274 of file SpaceInformation.cpp.
◆ getMotionStates()

virtual 
Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. These states are not checked for validity. If states.size() >= count or alloc is true, the returned value is equal to count (or count + 2, if endpoints is true). 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 the number of intermediate states to compute endpoints flag indicating whether s1 and s2 are to be included in states alloc flag indicating whether memory is to be allocated automatically
Reimplemented in ompl::base::TangentBundleSpaceInformation, and ompl::base::ConstrainedSpaceInformation.
Definition at line 201 of file SpaceInformation.cpp.
◆ randomBounceMotion()
unsigned int ompl::base::SpaceInformation::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).
 Parameters

sss the state space sampler to use start the state at which to start bouncing steps the number of bouncing steps to take states the location at which generated states will be stored alloc flag indicating whether memory should be allocated for states
Definition at line 133 of file SpaceInformation.cpp.
◆ searchValidNearby() [1/2]
bool ompl::base::SpaceInformation::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.
 Parameters

sampler the valid state sampler to use when attemting to find a valid sample. state the location at which to store the valid state, if one is found. This location may be modified even if no valid state is found. near a state that may be invalid near which we would like to find a valid state distance the maximum allowed distance between state and near
Definition at line 160 of file SpaceInformation.cpp.
◆ searchValidNearby() [2/2]
bool ompl::base::SpaceInformation::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.
 Parameters

state the location at which to store the valid state, if one is found. This location may be modified even if no valid state is found. near a state that may be invalid near which we would like to find a valid state distance the maximum allowed distance between state and near attempts the algorithm works by sampling states near state near. This parameter defines the maximum number of sampling attempts
Definition at line 183 of file SpaceInformation.cpp.
The documentation for this class was generated from the following files:
 ompl/base/SpaceInformation.h
 ompl/base/src/SpaceInformation.cpp