ExperienceSetup.h
120 std::size_t num_connected_components{0};
164 virtual void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const = 0;
virtual void getAllPlannerDatas(std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const =0
Get a vector of all the planning data in the database.
ExperienceSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition: ExperienceSetup.cpp:42
virtual void printResultsInfo(std::ostream &out=std::cout) const =0
Display debug data about potential available solutions.
virtual void saveDataLog(std::ostream &out=std::cout)
Save debug data about overall results since being loaded.
Definition: ExperienceSetup.cpp:81
virtual std::size_t getExperiencesCount() const =0
Get the total number of paths stored in the database.
Simple logging functionality encapsled in a struct.
Definition: ExperienceSetup.h:126
virtual const std::string & getFilePath() const
After setFile() is called, access the generated file path for loading and saving the experience datab...
Definition: ExperienceSetup.cpp:88
virtual void setRepairPlanner(const base::PlannerPtr &planner)=0
Set the planner to use for repairing experience paths inside the RetrieveRepair planner....
void convertLogToString(const ExperienceLog &log)
Move data to string format and put in buffer.
Definition: ExperienceSetup.cpp:73
virtual bool saveIfChanged()=0
Save the experience database to file if there has been a change.
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
bool scratchEnabled_
Flag indicating whether planning from scratch should be used to find solutions. Enabled by default.
Definition: ExperienceSetup.h:263
virtual bool setFilePath(const std::string &filePath)
Set the database file to load. Actual loading occurs when setup() is called.
Definition: ExperienceSetup.cpp:93
bool recallEnabled_
Flag indicating whether recalled plans should be used to find solutions. Enabled by default.
Definition: ExperienceSetup.h:260
virtual bool doPostProcessing()
Allow accumlated experiences to be processed.
Definition: ExperienceSetup.h:253
void enablePlanningFromScratch(bool enable)
Optionally disable the ability to plan from scratch Note: Lightning can still save modified experienc...
Definition: ExperienceSetup.cpp:108
void enablePlanningFromRecall(bool enable)
Optionally disable the ability to use previous plans in solutions (but will still save them)
Definition: ExperienceSetup.cpp:99
virtual void printLogs(std::ostream &out=std::cout) const =0
Display debug data about overall results since being loaded.