SimpleSetup.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_SIMPLE_SETUP_
38 #define OMPL_CONTROL_SIMPLE_SETUP_
39 
40 #include "ompl/base/Planner.h"
41 #include "ompl/control/SpaceInformation.h"
42 #include "ompl/control/PlannerData.h"
43 #include "ompl/base/ProblemDefinition.h"
44 #include "ompl/control/PathControl.h"
45 #include "ompl/geometric/PathGeometric.h"
46 #include "ompl/util/Console.h"
47 #include "ompl/util/Exception.h"
48 #include "ompl/util/Deprecation.h"
49 
50 namespace ompl
51 {
52  namespace control
53  {
55  OMPL_CLASS_FORWARD(SimpleSetup);
57 
64  {
65  public:
67  explicit SimpleSetup(const SpaceInformationPtr &si);
68 
70  explicit SimpleSetup(const ControlSpacePtr &space);
71 
72  virtual ~SimpleSetup() = default;
73 
76  {
77  return si_;
78  }
79 
82  {
83  return pdef_;
84  }
85 
88  {
89  return si_->getStateSpace();
90  }
91 
94  {
95  return si_->getControlSpace();
96  }
97 
100  {
101  return si_->getStateValidityChecker();
102  }
103 
105  const StatePropagatorPtr &getStatePropagator() const
106  {
107  return si_->getStatePropagator();
108  }
109 
111  const base::GoalPtr &getGoal() const
112  {
113  return pdef_->getGoal();
114  }
115 
118  {
119  return planner_;
120  }
121 
124  {
125  return pa_;
126  }
127 
130  bool haveExactSolutionPath() const;
131 
134  bool haveSolutionPath() const
135  {
136  return pdef_->getSolutionPath().get();
137  }
138 
140  PathControl &getSolutionPath() const;
141 
143  void getPlannerData(base::PlannerData &pd) const;
144 
147  {
148  si_->setStateValidityChecker(svc);
149  }
150 
153  {
154  si_->setStateValidityChecker(svc);
155  }
156 
159  {
160  si_->setStatePropagator(sp);
161  }
162 
164  void setStatePropagator(const StatePropagatorPtr &sp)
165  {
166  si_->setStatePropagator(sp);
167  }
168 
170  void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
171  {
172  pdef_->setOptimizationObjective(optimizationObjective);
173  }
174 
177  const double threshold = std::numeric_limits<double>::epsilon())
178  {
179  pdef_->setStartAndGoalStates(start, goal, threshold);
180  }
181 
184  const double threshold = std::numeric_limits<double>::epsilon())
185  {
186  pdef_->setGoalState(goal, threshold);
187  }
188 
192  {
193  pdef_->addStartState(state);
194  }
195 
198  {
199  pdef_->clearStartStates();
200  }
201 
204  {
206  addStartState(state);
207  }
208 
211  void setGoal(const base::GoalPtr &goal)
212  {
213  pdef_->setGoal(goal);
214  }
215 
220  void setPlanner(const base::PlannerPtr &planner)
221  {
222  if (planner && planner->getSpaceInformation().get() != si_.get())
223  throw Exception("Planner instance does not match space information");
224  planner_ = planner;
225  configured_ = false;
226  }
227 
232  {
233  pa_ = pa;
234  planner_.reset();
235  configured_ = false;
236  }
237 
239  virtual base::PlannerStatus solve(double time = 1.0);
240 
243 
246  {
247  return last_status_;
248  }
249 
252  {
253  return planTime_;
254  }
255 
259  virtual void clear();
260 
262  virtual void print(std::ostream &out = std::cout) const;
263 
267  virtual void setup();
268 
269  protected:
272 
275 
278 
281 
284 
286  double planTime_;
287 
290  };
291 
294  OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
295  }
296 }
297 #endif
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
Definition: SimpleSetup.cpp:45
base::PlannerAllocator pa_
The optional planner allocator.
Definition: SimpleSetup.h:280
A shared pointer wrapper for ompl::base::ProblemDefinition.
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called...
Definition: SimpleSetup.h:211
base::ProblemDefinitionPtr pdef_
The created problem definition.
Definition: SimpleSetup.h:274
const ControlSpacePtr & getControlSpace() const
Get the current instance of the control space.
Definition: SimpleSetup.h:93
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SimpleSetup.cpp:40
void setStatePropagator(const StatePropagatorFn &sp)
Set the function that performs state propagation.
Definition: SimpleSetup.h:158
Definition of a scoped state.
Definition: ScopedState.h:56
A shared pointer wrapper for ompl::base::StateSpace.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:63
void setPlannerAllocator(const base::PlannerAllocator &pa)
Set the planner allocator to use. This is only used if no planner has been set. This is optional – a...
Definition: SimpleSetup.h:231
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
double getLastPlanComputationTime() const
Get the amount of time (in seconds) spent during the last planning step.
Definition: SimpleSetup.h:251
Definition of a control path.
Definition: PathControl.h:60
base::PlannerPtr planner_
The maintained planner instance.
Definition: SimpleSetup.h:277
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:87
void setStartState(const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.
Definition: SimpleSetup.h:203
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:93
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:59
A shared pointer wrapper for ompl::base::StateValidityChecker.
A shared pointer wrapper for ompl::control::ControlSpace.
const base::StateValidityCheckerPtr & getStateValidityChecker() const
Get the current instance of the state validity checker.
Definition: SimpleSetup.h:99
std::function< void(const base::State *, const Control *, const double, base::State *)> StatePropagatorFn
A function that achieves state propagation.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
A shared pointer wrapper for ompl::base::Planner.
void setStatePropagator(const StatePropagatorPtr &sp)
Set the instance of StatePropagator to perform state propagation.
Definition: SimpleSetup.h:164
void setGoalState(const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
Definition: SimpleSetup.h:183
const base::PlannerAllocator & getPlannerAllocator() const
Get the planner allocator.
Definition: SimpleSetup.h:123
base::PlannerStatus getLastPlannerStatus() const
Return the status of the last planning attempt.
Definition: SimpleSetup.h:245
PathControl & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
const StatePropagatorPtr & getStatePropagator() const
Get the instance of the state propagator being used.
Definition: SimpleSetup.h:105
void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
Set the start and goal states to use.
Definition: SimpleSetup.h:176
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
base::PlannerStatus last_status_
The status of the last planning request.
Definition: SimpleSetup.h:289
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
A shared pointer wrapper for ompl::control::SpaceInformation.
SpaceInformationPtr si_
The created space information.
Definition: SimpleSetup.h:271
The exception type for ompl.
Definition: Exception.h:46
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
A shared pointer wrapper for ompl::base::OptimizationObjective.
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:170
void clearStartStates()
Clear the currently set starting states.
Definition: SimpleSetup.h:197
const SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:75
const base::PlannerPtr & getPlanner() const
Get the current planner.
Definition: SimpleSetup.h:117
void addStartState(const base::ScopedState<> &state)
Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...
Definition: SimpleSetup.h:191
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:146
double planTime_
The amount of time the last planning step took.
Definition: SimpleSetup.h:286
void setPlanner(const base::PlannerPtr &planner)
Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator...
Definition: SimpleSetup.h:220
A shared pointer wrapper for ompl::base::Goal.
const base::GoalPtr & getGoal() const
Get the current goal definition.
Definition: SimpleSetup.h:111
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:442
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
Definition: SimpleSetup.h:134
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:283
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
Definition: SimpleSetup.cpp:83
std::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the current instance of the problem definition.
Definition: SimpleSetup.h:81
void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:152