This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached. More...
|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. |
|Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidState()) |
|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. |
|template<typename _T >|
|static NearestNeighbors< _T > *||getDefaultNearestNeighbors (const base::Planner *planner)|
|Select a default nearest neighbor datastructure for the given space. More...|
|static base::PlannerPtr||getDefaultPlanner (const base::GoalPtr &goal)|
|Given a goal specification, decide on a planner for that goal. |
This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached.
Member Function Documentation
Select a default nearest neighbor datastructure for the given space.
The default depends on the planning algorithm and the space the planner operates in:
- If the space is a metric space and the planner is single-threaded, then the default is ompl::NearestNeighborsGNATNoThreadSafety.
- If the space is a metric space and the planner is multi-threaded, then the default is ompl::NearestNeighborsGNAT.
- If the space is a not a metric space, then the default is ompl::NearestNeighborsSqrtApprox.
The documentation for this class was generated from the following files: