ompl::magic Namespace Reference

This namespace includes magic constants used in various places in OMPL. More...


static const double CONSTRAINT_PROJECTION_TOLERANCE = 1e-4
 Default projection tolerance of a constraint unless otherwise specified.
static const unsigned int CONSTRAINT_PROJECTION_MAX_ITERATIONS = 50
 Maximum number of iterations in projection routine until giving up.
static const unsigned int ATLAS_STATE_SPACE_SAMPLES = 50
static const double ATLAS_STATE_SPACE_EPSILON = 0.05
static const double ATLAS_STATE_SPACE_RHO_MULTIPLIER = 5
static const double ATLAS_STATE_SPACE_ALPHA = boost::math::constants::pi<double>() / 8.0
static const double ATLAS_STATE_SPACE_EXPLORATION = 0.75
static const unsigned int ATLAS_STATE_SPACE_MAX_CHARTS_PER_EXTENSION = 200
static const double ATLAS_STATE_SPACE_BACKOFF = 0.75
static const double CONSTRAINED_STATE_SPACE_DELTA = 0.05
static const double CONSTRAINED_STATE_SPACE_LAMBDA = 2.0
static const unsigned int DEFAULT_NEAREST_NEIGHBORS_LAZY = 5
 The number of nearest neighbors to consider by default in the construction of the PRM roadmap.
static const unsigned int MIN_ADDED_SEGMENTS_FOR_LAZY_OPTIMIZATION = 5
 When optimizing solutions with lazy planners, this is the minimum number of path segments to add before attempting a new optimized solution extraction.
static const unsigned int MAX_RANDOM_BOUNCE_STEPS = 5
 The number of steps to take for a random bounce motion generated as part of the expansion step of PRM.
static const double ROADMAP_BUILD_TIME = 0.2
 The time in seconds for a single roadmap building operation (dt)
static const unsigned int DEFAULT_NEAREST_NEIGHBORS = 10
 The number of nearest neighbors to consider by default in the construction of the PRM roadmap.
static const unsigned int VFRRT_MEAN_NORM_SAMPLES = 1000
 Number of sampler to determine mean vector field norm in gVFRRT.
static const unsigned int MAX_CLIMB_NO_UPDATE_STEPS = 10
 Maximum number of consecutive failures to allow before giving up on improving a state. A failure consists of being unable to sample a state that is closer to the specified goal region.
static const double GAP_COST_FRACTION = 0.05
 The fraction of the path length to consider as gap cost when aligning paths to be hybridized.
static const double PROJECTION_DIMENSION_SPLITS = 20.0
 When the cell sizes for a projection are automatically computed, this value defines the number of parts into which each dimension is split.
static const unsigned int PROJECTION_EXTENTS_SAMPLES = 100
 When no cell sizes are specified for a projection, they are inferred like so: More...
static const double PROJECTION_EXPAND_FACTOR = 0.05
 When a bounding box of projected states cannot be inferred, it will be estimated by sampling states. To get closer to the true bounding box, we grow the bounding box of the projected sampled states by 5% on each side.
 For planners: if default values are to be used for the maximum length of motions, this constant defines what fraction of the space extent (computed with ompl::base::SpaceInformation::getMaximumExtent()) is to be used as the maximum length of a motion.
 For cost-based planners it has been observed that smaller ranges are typically suitable. The same range computation strategy is used for all planners, but for cost planners an additional factor (smaller than 1) is multiplied in.
static const double STD_DEV_AS_SPACE_EXTENT_FRACTION = 0.1
 When standard deviation is needed for Gaussian sampling in the state space, by default the value of the standard deviation is computed as a fraction of the extent of the space.
static const unsigned int MAX_VALID_SAMPLE_ATTEMPTS = 100
 When multiple attempts are needed to generate valid samples, this value defines the default number of attempts.
 Maximum number of sampling attempts to find a valid state, without checking whether the allowed time elapsed. This value should not really be changed.
static const unsigned int TEST_STATE_COUNT = 1000
 When multiple states need to be generated as part of the computation of various information (usually through stochastic processes), this parameter controls how many samples are generated.
static const unsigned int NEAREST_K_RECALL_SOLUTIONS = 10
 Default number of close solutions to choose from a path experience database (library) for further filtering used in the Lightning Framework.

Detailed Description

This namespace includes magic constants used in various places in OMPL.

We strive to minimize the use of constants in the code, but at places, this is necessary. These constants typically do not have to be changed, but we chose to expose their functionality for the more curious user. The constants in this namespace include values typically used in the computation of default settings.

Variable Documentation


const unsigned int ompl::magic::PROJECTION_EXTENTS_SAMPLES = 100

When no cell sizes are specified for a projection, they are inferred like so:

  1. approximate extent of projected space by taking a number of samples (the constant below)
  2. compute the cell sizes by dividing the extent by PROJECTION_DIMENSION_SPLITS

Definition at line 60 of file MagicConstants.h.