Space information for a tangent bundle-based state space. Implements more direct for getting motion states and checking motion, as the lazy approach requires post-processing. More...
#include <ompl/base/ConstrainedSpaceInformation.h>
Public Member Functions | |
TangentBundleSpaceInformation (StateSpacePtr space) | |
Constructor. Sets the instance of the state space to plan with. | |
unsigned int | getMotionStates (const State *s1, const State *s2, std::vector< State * > &states, unsigned int, bool, bool) const override |
Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. Uses the constrained state space's manifold traversal method to obtain states. Will always allocate states. As tangent bundle is lazy, the states are projected onto the manifold so that they satisfy constraints. More... | |
bool | checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const override |
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. As tangent bundle is lazy, the last valid state is projected onto the manifold. More... | |
Public Member Functions inherited from ompl::base::ConstrainedSpaceInformation | |
ConstrainedSpaceInformation (StateSpacePtr space) | |
Constructor. Sets the instance of the state space to plan with. | |
Public Member Functions inherited from ompl::base::SpaceInformation | |
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) | |
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. | |
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 * | 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. | |
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). | |
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) 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. | |
unsigned int | getCheckedMotionCount () const |
Get the total number of motion segments checked by the MotionValidator so far. | |
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. | |
Additional Inherited Members | |
Protected Member Functions inherited from ompl::base::SpaceInformation | |
void | setDefaultMotionValidator () |
Set default motion validator for the state space. | |
Protected Attributes inherited from ompl::base::SpaceInformation | |
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. | |
Detailed Description
Space information for a tangent bundle-based state space. Implements more direct for getting motion states and checking motion, as the lazy approach requires post-processing.
Definition at line 218 of file ConstrainedSpaceInformation.h.
Member Function Documentation
◆ checkMotion()
|
inlineoverridevirtual |
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. As tangent bundle is lazy, the last valid state is projected onto the manifold.
- 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 from ompl::base::SpaceInformation.
Definition at line 280 of file ConstrainedSpaceInformation.h.
◆ getMotionStates()
|
inlineoverridevirtual |
Get count states that make up a motion between s1 and s2. Returns the number of states that were added to states. Uses the constrained state space's manifold traversal method to obtain states. Will always allocate states. As tangent bundle is lazy, the states are projected onto the manifold so that they satisfy constraints.
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 is currently ignored endpoints flag indicating whether s1 and s2 are to be included in states alloc is currently ignored
Reimplemented from ompl::base::ConstrainedSpaceInformation.
Definition at line 241 of file ConstrainedSpaceInformation.h.
The documentation for this class was generated from the following file:
- ompl/base/ConstrainedSpaceInformation.h