The base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use. More...

#include <ompl/base/SpaceInformation.h>

Inheritance diagram for ompl::base::SpaceInformation:

[legend]

Public Member Functions
	SpaceInformation (const SpaceInformation &)=delete

SpaceInformation &	operator= (const SpaceInformation &)=delete

	SpaceInformation (StateSpacePtr space)
	Constructor. Sets the instance of the state space to plan with.

bool	isValid (const State *state) const
	Check if a given state is valid or not.

const StateSpacePtr &	getStateSpace () const
	Return the instance of the used state space.

unsigned int	getStateDimension () const
	Return the dimension of the state space.

double	getSpaceMeasure () const
	Get a measure of the space (this can be thought of as a generalization of volume)

Topology-specific state operations (as in the state space)
bool	equalStates (const State state1, const State state2) const
	Check if two states are the same.

bool	satisfiesBounds (const State *state) const
	Check if a state is inside the bounding box.

double	distance (const State state1, const State state2) const
	Compute the distance between two states.

void	enforceBounds (State *state) const
	Bring the state within the bounds of the state space.

void	printState (const State *state, std::ostream &out=std::cout) const
	Print a state to a stream.

Configuration of state validity checking
void	setStateValidityChecker (const StateValidityCheckerPtr &svc)
	Set the instance of the state validity checker to use. Parallel implementations of planners assume this validity checker is thread safe.

void	setStateValidityChecker (const StateValidityCheckerFn &svc)
	If no state validity checking class is specified (StateValidityChecker), a function can be specified instead. This version however incurs a small additional overhead when calling the function, since there is one more level of indirection.

const StateValidityCheckerPtr &	getStateValidityChecker () const
	Return the instance of the used state validity checker.

void	setMotionValidator (const MotionValidatorPtr &mv)
	Set the instance of the motion validity checker to use. Parallel implementations of planners assume this validity checker is thread safe.

const MotionValidatorPtr &	getMotionValidator () const
	Return the instance of the used state validity checker.

MotionValidatorPtr &	getMotionValidator ()
	Return the non-const instance of the used state validity checker.

void	setStateValidityCheckingResolution (double resolution)
	Set the resolution at which state validity needs to be verified in order for a motion between two states to be considered valid. This value is specified as a fraction of the space's extent. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking.

double	getStateValidityCheckingResolution () const
	Get the resolution at which state validity is verified. This call is only applicable if a ompl::base::DiscreteMotionValidator is used. See State Validity Checking.

State memory management
State *	allocState () const
	Allocate memory for a state.

void	allocStates (std::vector< State * > &states) const
	Allocate memory for each element of the array states.

void	freeState (State *state) const
	Free the memory of a state.

void	freeStates (std::vector< State * > &states) const
	Free the memory of an array of states.

void	copyState (State destination, const State source) const
	Copy a state to another.

State *	cloneState (const State *source) const
	Clone a state.

Sampling of valid states
StateSamplerPtr	allocStateSampler () const
	Allocate a uniform state sampler for the state space.

ValidStateSamplerPtr	allocValidStateSampler () const
	Allocate an instance of a valid state sampler for this space. If setValidStateSamplerAllocator() was previously called, the specified allocator is used to produce the state sampler. Otherwise, a ompl::base::UniformValidStateSampler() is allocated.

void	setValidStateSamplerAllocator (const ValidStateSamplerAllocator &vssa)
	Set the allocator to use for a valid state sampler. This replaces the default uniform valid state sampler. This call can be made at any time, but it should not be changed while ompl::base::Planner::solve() is executing.

void	clearValidStateSamplerAllocator ()
	Clear the allocator used for the valid state sampler. This will revert to using the uniform valid state sampler (the default).

Primitives typically used by motion planners
double	getMaximumExtent () const
	Get the maximum extent of the space we are planning in. This is the maximum distance that could be reported between any two given states.

bool	searchValidNearby (State state, const State near, double distance, unsigned int attempts) const
	Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. More...

bool	searchValidNearby (const ValidStateSamplerPtr &sampler, State state, const State near, double distance) const
	Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success. More...

unsigned int	randomBounceMotion (const StateSamplerPtr &sss, const State start, unsigned int steps, std::vector< State > &states, bool alloc) const
	Produce a valid motion starting at start by randomly bouncing off of invalid states. The start state start is not included in the computed motion (states). Returns the number of elements written to states (less or equal to steps). More...

virtual bool	checkMotion (const State s1, const State s2, std::pair< State *, double > &lastValid) const
	Incrementally check if the path between two motions is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid. More...

virtual bool	checkMotion (const State s1, const State s2) const
	Check if the path between two states (from s1 to s2) is valid, using the MotionValidator. This function assumes s1 is valid.

bool	checkMotion (const std::vector< State * > &states, unsigned int count, unsigned int &firstInvalidStateIndex) const
	Incrementally check if a sequence of states is valid. Given a vector of states, this routine only checks the first count elements and marks the index of the first invalid state. More...

bool	checkMotion (const std::vector< State * > &states, unsigned int count) const
	Check if a sequence of states is valid using subdivision.

virtual unsigned int	getMotionStates (const State s1, const State s2, std::vector< State * > &states, unsigned int count, bool endpoints, bool alloc) const
	Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. These states are not checked for validity. If states.size() >= count or alloc is true, the returned value is equal to count (or count + 2, if endpoints is true). Otherwise, fewer states can be returned. More...

unsigned int	getCheckedMotionCount () const
	Get the total number of motion segments checked by the MotionValidator so far.

Routines for inferring information about the state space
StateSpacePtr	stateSpace_
	The state space planning is to be performed in.

StateValidityCheckerPtr	stateValidityChecker_
	The instance of the state validity checker used for determining the validity of states in the planning process.

MotionValidatorPtr	motionValidator_
	The instance of the motion validator to use when determining the validity of motions in the planning process.

bool	setup_
	Flag indicating whether setup() has been called on this instance.

ValidStateSamplerAllocator	vssa_
	The optional valid state sampler allocator.

ParamSet	params_
	Combined parameters for the contained classes.

double	probabilityOfValidState (unsigned int attempts) const
	Estimate probability of sampling a valid state. setup() is assumed to have been called.

double	averageValidMotionLength (unsigned int attempts) const
	Estimate the length of a valid motion. setup() is assumed to have been called.

void	samplesPerSecond (double &uniform, double &near, double &gaussian, unsigned int attempts) const
	Estimate the number of samples that can be drawn per second, using the sampler returned by allocStateSampler()

virtual void	printSettings (std::ostream &out=std::cout) const
	Print information about the current instance of the state space.

virtual void	printProperties (std::ostream &out=std::cout) const
	Print properties of the current instance of the state space.

ParamSet &	params ()
	Get the combined parameters for the classes that the space information manages.

const ParamSet &	params () const
	Get the combined parameters for the classes that the space information manages.

virtual void	setup ()
	Perform additional setup tasks (run once, before use). If state validity checking resolution has not been set, estimateMaxResolution() is called to estimate it.

bool	isSetup () const
	Return true if setup was called.

void	setDefaultMotionValidator ()
	Set default motion validator for the state space.

Detailed Description

The base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use.

Definition at line 145 of file SpaceInformation.h.

Member Function Documentation

◆ checkMotion() [1/2]

virtual bool ompl::base::SpaceInformation::checkMotion	(	const State *	s1,
		const State *	s2,
		std::pair< State *, double > &	lastValid
	)		const

inlinevirtual

Incrementally check if the path between two motions is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid.

Parameters

s1	start state of the motion to be checked (assumed to be valid)
s2	final state of the motion to be checked
lastValid	first: storage for the last valid state (may be nullptr); this need not be different from s1 or s2. second: the time (between 0 and 1) of the last valid state, on the motion from s1 to s2

Reimplemented in ompl::base::TangentBundleSpaceInformation.

Definition at line 409 of file SpaceInformation.h.

◆ checkMotion() [2/2]

bool ompl::base::SpaceInformation::checkMotion	(	const std::vector< State * > &	states,
		unsigned int	count,
		unsigned int &	firstInvalidStateIndex
	)		const

Incrementally check if a sequence of states is valid. Given a vector of states, this routine only checks the first count elements and marks the index of the first invalid state.

Parameters

states	the array of states to be checked
count	the number of states to be checked in the array (0 to count)
firstInvalidStateIndex	location to store the first invalid state index. Unmodified if the function returns true

Definition at line 274 of file SpaceInformation.cpp.

◆ getMotionStates()

unsigned int ompl::base::SpaceInformation::getMotionStates	(	const State *	s1,
		const State *	s2,
		std::vector< State * > &	states,
		unsigned int	count,
		bool	endpoints,
		bool	alloc
	)		const

virtual

Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. These states are not checked for validity. If states.size() >= count or alloc is true, the returned value is equal to count (or count + 2, if endpoints is true). Otherwise, fewer states can be returned.

Parameters

s1	the start state of the considered motion
s2	the end state of the considered motion
states	the computed set of states along the specified motion
count	the number of intermediate states to compute
endpoints	flag indicating whether s1 and s2 are to be included in states
alloc	flag indicating whether memory is to be allocated automatically

Reimplemented in ompl::base::TangentBundleSpaceInformation, and ompl::base::ConstrainedSpaceInformation.

Definition at line 201 of file SpaceInformation.cpp.

◆ randomBounceMotion()

unsigned int ompl::base::SpaceInformation::randomBounceMotion	(	const StateSamplerPtr &	sss,
		const State *	start,
		unsigned int	steps,
		std::vector< State * > &	states,
		bool	alloc
	)		const

Produce a valid motion starting at start by randomly bouncing off of invalid states. The start state start is not included in the computed motion (states). Returns the number of elements written to states (less or equal to steps).

Parameters

sss	the state space sampler to use
start	the state at which to start bouncing
steps	the number of bouncing steps to take
states	the location at which generated states will be stored
alloc	flag indicating whether memory should be allocated for states

Definition at line 133 of file SpaceInformation.cpp.

◆ searchValidNearby() [1/2]

bool ompl::base::SpaceInformation::searchValidNearby	(	const ValidStateSamplerPtr &	sampler,
		State *	state,
		const State *	near,
		double	distance
	)		const

Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success.

Parameters

sampler	the valid state sampler to use when attemting to find a valid sample.
state	the location at which to store the valid state, if one is found. This location may be modified even if no valid state is found.
near	a state that may be invalid near which we would like to find a valid state
distance	the maximum allowed distance between state and near

Definition at line 160 of file SpaceInformation.cpp.

◆ searchValidNearby() [2/2]

bool ompl::base::SpaceInformation::searchValidNearby	(	State *	state,
		const State *	near,
		double	distance,
		unsigned int	attempts
	)		const

Find a valid state near a given one. If the given state is valid, it will be returned itself. The two passed state pointers need not point to different memory. Returns true on success.

Parameters

state	the location at which to store the valid state, if one is found. This location may be modified even if no valid state is found.
near	a state that may be invalid near which we would like to find a valid state
distance	the maximum allowed distance between state and near
attempts	the algorithm works by sampling states near state near. This parameter defines the maximum number of sampling attempts

Definition at line 183 of file SpaceInformation.cpp.

The documentation for this class was generated from the following files:

ompl/base/SpaceInformation.h
ompl/base/src/SpaceInformation.cpp

Public Member Functions

Routines for inferring information about the state space

Detailed Description

Member Function Documentation

◆ checkMotion() [1/2]

◆ checkMotion() [2/2]

◆ getMotionStates()

◆ randomBounceMotion()

◆ searchValidNearby() [1/2]

◆ searchValidNearby() [2/2]