Create the set of classes typically needed to solve a control problem when forward propagation is computed with MORSE. More...

#include <ompl/extensions/morse/MorseSimpleSetup.h>

Inheritance diagram for ompl::control::MorseSimpleSetup:

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Public Member Functions
	MorseSimpleSetup (const base::MorseEnvironmentPtr &env)
	The control space is assumed to be MorseControlSpace. The state space is assumed to be MorseStateSpace. Constructor only needs the MORSE environment.

const base::MorseEnvironmentPtr &	getEnvironment () const
	Get the MORSE environment associated with this setup.

base::ScopedState< base::MorseStateSpace >	getCurrentState () const
	Get the current MORSE state (read parameters from MORSE bodies)

void	setCurrentState (const base::ScopedState<> &state)
	Set the current MORSE state (set parameters for MORSE bodies)

void	setCurrentState (const base::State *state)
	Set the current MORSE state (set parameters for MORSE bodies)

void	setup () override
	This method will create the necessary classes for planning. The solve() method will call this function automatically.

base::PlannerStatus	solve ()
	Run the planner until solution is found or user shuts down MORSE.

void	playPath (const base::PathPtr &path) const
	Set the MORSE world to the states that are contained in a given path, sequentially.

void	playSolutionPath () const
	Call playPath() on the solution path, if one is available.

base::PathPtr	simulateControl (const double *control, unsigned int steps) const
	Simulate the MORSE environment forward for steps simulation steps, using the control control. Construct a path representing this action.

base::PathPtr	simulateControl (const Control *control, unsigned int steps) const
	Simulate the MORSE environment forward for steps simulation steps, using the control control. Construct a path representing this action.

base::PathPtr	simulate (unsigned int steps) const
	Simulate the MORSE environment forward for steps simulation steps, using the null control (ompl::control::ControlSpace::nullControl()). Construct a path representing this action.

Public Member Functions inherited from ompl::control::SimpleSetup
	SimpleSetup (const SpaceInformationPtr &si)
	Constructor needs the control space used for planning.

	SimpleSetup (const ControlSpacePtr &space)
	Constructor needs the control space used for planning.

const SpaceInformationPtr &	getSpaceInformation () const
	Get the current instance of the space information.

const base::ProblemDefinitionPtr &	getProblemDefinition () const
	Get the current instance of the problem definition.

base::ProblemDefinitionPtr &	getProblemDefinition ()
	Get the current instance of the problem definition.

const base::StateSpacePtr &	getStateSpace () const
	Get the current instance of the state space.

const ControlSpacePtr &	getControlSpace () const
	Get the current instance of the control space.

const base::StateValidityCheckerPtr &	getStateValidityChecker () const
	Get the current instance of the state validity checker.

const StatePropagatorPtr &	getStatePropagator () const
	Get the instance of the state propagator being used.

const base::GoalPtr &	getGoal () const
	Get the current goal definition.

const base::PlannerPtr &	getPlanner () const
	Get the current planner.

const base::PlannerAllocator &	getPlannerAllocator () const
	Get the planner allocator.

bool	haveExactSolutionPath () const
	Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate)

bool	haveSolutionPath () const
	Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.

PathControl &	getSolutionPath () const
	Get the solution path. Throw an exception if no solution is available.

void	getPlannerData (base::PlannerData &pd) const
	Get information about the exploration data structure the motion planner used.

void	setStateValidityChecker (const base::StateValidityCheckerPtr &svc)
	Set the state validity checker to use.

void	setStateValidityChecker (const base::StateValidityCheckerFn &svc)
	Set the state validity checker to use.

void	setStatePropagator (const StatePropagatorFn &sp)
	Set the function that performs state propagation.

void	setStatePropagator (const StatePropagatorPtr &sp)
	Set the instance of StatePropagator to perform state propagation.

void	setOptimizationObjective (const base::OptimizationObjectivePtr &optimizationObjective)
	Set the optimization objective to use.

void	setStartAndGoalStates (const base::ScopedState<> &start, const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
	Set the start and goal states to use.

void	setGoalState (const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
	A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.

void	addStartState (const base::ScopedState<> &state)
	Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.

void	clearStartStates ()
	Clear the currently set starting states.

void	setStartState (const base::ScopedState<> &state)
	Clear the currently set starting states and add state as the starting state.

void	setGoal (const base::GoalPtr &goal)
	Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.

void	setPlanner (const base::PlannerPtr &planner)
	Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set.

void	setPlannerAllocator (const base::PlannerAllocator &pa)
	Set the planner allocator to use. This is only used if no planner has been set. This is optional – a default planner will be used if no planner is otherwise specified.

virtual base::PlannerStatus	solve (double time=1.0)
	Run the planner for a specified amount of time (default is 1 second)

virtual base::PlannerStatus	solve (const base::PlannerTerminationCondition &ptc)
	Run the planner until ptc becomes true (at most)

base::PlannerStatus	getLastPlannerStatus () const
	Return the status of the last planning attempt.

double	getLastPlanComputationTime () const
	Get the amount of time (in seconds) spent during the last planning step.

virtual void	clear ()
	Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.

virtual void	print (std::ostream &out=std::cout) const
	Print information about the current setup.

Public Attributes
const base::MorseEnvironmentPtr	env_
	Pointer to the environment representing the MORSE simulation.

Additional Inherited Members
Protected Attributes inherited from ompl::control::SimpleSetup
SpaceInformationPtr	si_
	The created space information.

base::ProblemDefinitionPtr	pdef_
	The created problem definition.

base::PlannerPtr	planner_
	The maintained planner instance.

base::PlannerAllocator	pa_
	The optional planner allocator.

bool	configured_
	Flag indicating whether the classes needed for planning are set up.

double	planTime_
	The amount of time the last planning step took.

base::PlannerStatus	last_status_
	The status of the last planning request.

Detailed Description

Create the set of classes typically needed to solve a control problem when forward propagation is computed with MORSE.

Definition at line 114 of file MorseSimpleSetup.h.

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

ompl/extensions/morse/MorseSimpleSetup.h
ompl/extensions/morse/src/MorseSimpleSetup.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description