SelfConfig.cpp
107 void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj, const std::string &context)
126 out << "Configuration parameters for space '" << si->getStateSpace()->getName() << "'" << std::endl;
173 ompl::tools::SelfConfig::SelfConfig(const base::SpaceInformationPtr &si, const std::string &context)
static const unsigned int TEST_STATE_COUNT
When multiple states need to be generated as part of the computation of various information (usually ...
Definition: MagicConstants.h:165
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
void configureValidStateSamplingAttempts(unsigned int &attempts)
Instances of base::ValidStateSampler need a number of attempts to be specified – the maximum number o...
Definition: SelfConfig.cpp:219
static const double MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION
For planners: if default values are to be used for the maximum length of motions, this constant defin...
Definition: MagicConstants.h:137
A shared pointer wrapper for ompl::base::Planner.
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...
Definition: SelfConfig.cpp:173
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:152
static const unsigned int MAX_VALID_SAMPLE_ATTEMPTS
When multiple attempts are needed to generate valid samples, this value defines the default number of...
Definition: MagicConstants.h:154
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
double getProbabilityOfValidState()
Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidS...
Definition: SelfConfig.cpp:207
void print(std::ostream &out=std::cout) const
Print the computed configuration parameters.
Definition: SelfConfig.cpp:237
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SelfConfig.cpp:243
double getAverageValidMotionLength()
Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionL...
Definition: SelfConfig.cpp:213