BundleSpaceSequenceImpl.h
48 ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence(ompl::base::SpaceInformationPtr si, std::string type)
55 ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence(std::vector<ompl::base::SpaceInformationPtr> &siVec,
63 ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence(std::vector<ompl::base::SpaceInformationPtr> &siVec,
180 ompl::multilevel::BundleSpaceSequence<T>::solve(const ompl::base::PlannerTerminationCondition &ptc)
257 void ompl::multilevel::BundleSpaceSequence<T>::setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef)
279 OMPL_ERROR("If you want to use other goal classes than \"GoalSampleableRegion\", you need to specify them "
301 ompl::base::ProblemDefinitionPtr pdefChild = std::make_shared<base::ProblemDefinition>(siChild);
314 ompl::base::GoalState *goal = static_cast<ompl::base::GoalState *>(pdefParent->getGoal().get());
323 ompl::base::GoalStates *goal = static_cast<ompl::base::GoalStates *>(pdefParent->getGoal().get());
void setMaxLevel(unsigned int level_)
The maximum level in the bundle space hierarchy.
Definition: PlannerDataVertexAnnotated.cpp:97
ompl::base::State * getTotalState(int baseLevel, const base::State *baseState) const
Starting from a baseState on baseLevel, we lift it iteratively upwards into the total space of the se...
Definition: BundleSpaceSequenceImpl.h:347
A shared pointer wrapper for ompl::base::Path.
A shared pointer wrapper for ompl::base::SpaceInformation.
ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: BundleSpaceSequenceImpl.h:180
const ompl::base::State * getBaseState() const
Returns base state, indepent of mode.
Definition: PlannerDataVertexAnnotated.cpp:120
virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition: BundleSpaceSequenceImpl.h:257
An annotated vertex, adding information about its level in the multilevel hierarchy....
Definition: PlannerDataVertexAnnotated.h:121
virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition: BundleSpace.cpp:206
Representation of a solution to a planning problem.
Definition: ProblemDefinition.h:133
unsigned int numEdges() const
Retrieve the number of edges in this structure.
Definition: PlannerData.cpp:207
bool makeProjection()
Given bundle space and base space, try to guess the right.
Definition: BundleSpace.cpp:101
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.
Definition: BundleSpace.cpp:323
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
void setTotalState(ompl::base::State *s, ompl::base::SpaceInformationPtr si)
Set total state, i.e. the lift of the base state to the total space (last Spaceinformationptr in sequ...
Definition: PlannerDataVertexAnnotated.cpp:130
BundleSpaceSequence(ompl::base::SpaceInformationPtr si, std::string type="BundleSpacePlannerNonMultilevel")
Non-multilevel Mode: Calling with a single ompl::base::SpaceInformationPtr will revert to standard pl...
Definition: BundleSpaceSequenceImpl.h:48
ProjectionPtr getProjection() const
Get ProjectionPtr from Bundle to Base.
Definition: BundleSpace.cpp:226
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition: PlannerData.cpp:202
virtual void getPlannerData(ompl::base::PlannerData &data) const override
Return annotated vertices (with information about BundleSpace level)
Definition: BundleSpaceSequenceImpl.h:376
virtual void clear() override
Clear multilevel planner by clearing all levels.
Definition: BundleSpaceSequenceImpl.h:162
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
void setProjection(ProjectionPtr projection)
Set explicit projection (so that we do not need to guess.
Definition: BundleSpace.cpp:216
A shared pointer wrapper for ompl::base::ProblemDefinition.
const PlannerDataVertex & getVertex(unsigned int index) const
Retrieve a reference to the vertex object with the given index. If this vertex does not exist,...
Definition: PlannerData.cpp:212
virtual bool getSolution(ompl::base::PathPtr &solution)=0
Return best solution.
virtual void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BundleSpaceSequenceImpl.h:151
void setLevel(unsigned int level_)
The level of vertex in the bundle space hierarchy.
Definition: PlannerDataVertexAnnotated.cpp:87
virtual void getPlannerData(PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: Planner.cpp:129
MultiLevel Planner Interface. Extends base::Planner by allowing sequences of base::SpaceInformationPt...
Definition: PlannerMultiLevel.h:119
double getThreshold() const
Get the distance to the goal that is allowed for a state to be considered in the goal region.
Definition: GoalRegion.h:178
void setPlannerName(const std::string &name)
Set the name of the planner used to compute this solution.
Definition: ProblemDefinition.h:169
ompl::base::State * allocIdentityStateBundle() const
Allocate State, set entries to Identity/Zero.
Definition: BundleSpace.cpp:313
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:111
virtual bool isInfeasible()
Check if any infeasibility guarantees are fulfilled.
Definition: BundleSpace.cpp:369
A planner for a sequence of BundleSpaces.
Definition: BundleSpaceSequence.h:103
void setFindSectionStrategy(FindSectionType type)
Set strategy to use to solve the find section problem.
Definition: BundleSpaceSequenceImpl.h:138
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:128
const ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition the planner is trying to solve.
Definition: Planner.cpp:71