ompl::tools::SelfConfig Class Reference

This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached. More...

#include <ompl/tools/config/SelfConfig.h>

## Public Member Functions

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 console is prefixed by context.

double getProbabilityOfValidState ()
Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidState())

double getAverageValidMotionLength ()
Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionLength())

void configureValidStateSamplingAttempts (unsigned int &attempts)
Instances of base::ValidStateSampler need a number of attempts to be specified – the maximum number of times a new sample is selected and checked to be valid. This function computes a number of attempts such that the probability of obtaining a valid sample is 90%.

void configurePlannerRange (double &range)
Compute what a good length for motion segments is.

void configureProjectionEvaluator (base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultProjection(). If no default projection is available either, an exception is thrown.

void print (std::ostream &out=std::cout) const
Print the computed configuration parameters.

## Static Public Member Functions

template<typename _T >
static NearestNeighbors< _T > * getDefaultNearestNeighbors (const base::Planner *planner)
Select a default nearest neighbor datastructure for the given space.

static base::PlannerPtr getDefaultPlanner (const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.

## Detailed Description

This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached.

Definition at line 59 of file SelfConfig.h.

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