ompl::control::SpaceInformation Class Reference

Space information containing necessary information for planning with controls. setup() needs to be called before use. More...

#include <ompl/control/SpaceInformation.h>

Inheritance diagram for ompl::control::SpaceInformation:

## Public Member Functions

SpaceInformation (const base::StateSpacePtr &stateSpace, ControlSpacePtr controlSpace)
Constructor. Sets the instance of the state and control spaces to plan with.

const ControlSpacePtrgetControlSpace () const
Get the control space.

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

void setup () override

Control memory management
ControlallocControl () const
Allocate memory for a control.

void freeControl (Control *control) const
Free the memory of a control.

void copyControl (Control *destination, const Control *source) const
Copy a control to another.

ControlcloneControl (const Control *source) const
Clone a control.

Topology-specific control operations (as in the control space)
void printControl (const Control *control, std::ostream &out=std::cout) const
Print a control to a stream.

bool equalControls (const Control *control1, const Control *control2) const
Check if two controls are the same.

void nullControl (Control *control) const
Make the control have no effect if it were to be applied to a state for any amount of time.

Sampling of controls
ControlSamplerPtr allocControlSampler () const
Allocate a control sampler.

void setMinMaxControlDuration (unsigned int minSteps, unsigned int maxSteps)
Set the minimum and maximum number of steps a control is propagated for.

void setMinControlDuration (unsigned int minSteps)
Set the minimum number of steps a control is propagated for.

void setMaxControlDuration (unsigned int maxSteps)
Set the minimum and maximum number of steps a control is propagated for.

unsigned int getMinControlDuration () const
Get the minimum number of steps a control is propagated for.

unsigned int getMaxControlDuration () const
Get the maximum number of steps a control is propagated for.

DirectedControlSamplerPtr allocDirectedControlSampler () const
Allocate an instance of the DirectedControlSampler to use. This will be the default (SimpleDirectedControlSampler) unless setDirectedControlSamplerAllocator() was previously called.

void setDirectedControlSamplerAllocator (const DirectedControlSamplerAllocator &dcsa)
Set the allocator to use for the DirectedControlSampler.

void clearDirectedSamplerAllocator ()
Reset the DirectedControlSampler to be the default one.

Configuration of the state propagator
const StatePropagatorPtrgetStatePropagator () const
Get the instance of StatePropagator that performs state propagation.

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

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

void setPropagationStepSize (double stepSize)
When controls are applied to states, they are applied for a time duration that is an integer multiple of the stepSize, within the bounds specified by setMinMaxControlDuration()

double getPropagationStepSize () const
Propagation is performed at integer multiples of a specified step size. This function returns the value of this step size.

Primitives for propagating the model of the system
void propagate (const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps. More...

bool canPropagateBackward () const
Some systems can only propagate forward in time (i.e., the steps argument for the propagate() function is always positive). If this is the case, this function will return false. Planners that need backward propagation (negative steps) will call this function to check. If backward propagation is possible, this function will return true (this is the default).

unsigned int propagateWhileValid (const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and result = state. More...

void propagate (const base::State *state, const Control *control, int steps, std::vector< base::State * > &result, bool alloc) const
Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps. More...

unsigned int propagateWhileValid (const base::State *state, const Control *control, int steps, std::vector< base::State * > &result, bool alloc) const
Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and no states are added to result. If alloc is false and result cannot store all the generated states, propagation is stopped prematurely (when result is full). The starting state (state) is not included in result. The return value of the function indicates how many states have been written to result. More...

Public Member Functions inherited from ompl::base::SpaceInformation
SpaceInformation (const SpaceInformation &)=delete

SpaceInformationoperator= (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 StateSpacePtrgetStateSpace () 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 StateValidityCheckerPtrgetStateValidityChecker () 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 MotionValidatorPtrgetMotionValidator () const
Return the instance of the used state validity checker.

MotionValidatorPtrgetMotionValidator ()
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.

StateallocState () 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.

StatecloneState (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, 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.

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

ParamSetparams ()
Get the combined parameters for the classes that the space information manages.

const ParamSetparams () const
Get the combined parameters for the classes that the space information manages.

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

## Protected Member Functions

void declareParams ()

Protected Member Functions inherited from ompl::base::SpaceInformation
void setDefaultMotionValidator ()
Set default motion validator for the state space.

## Protected Attributes

ControlSpacePtr controlSpace_
The control space describing the space of controls applicable to states in the state space.

StatePropagatorPtr statePropagator_
The state propagator used to model the motion of the system being planned for.

unsigned int minSteps_ {0}
The minimum number of steps to apply a control for.

unsigned int maxSteps_ {0}
The maximum number of steps to apply a control for.

DirectedControlSamplerAllocator dcsa_
Optional allocator for the DirectedControlSampler. If not specified, the default implementation is used.

double stepSize_ {0.}
The actual duration of each step.

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 containing necessary information for planning with controls. setup() needs to be called before use.

Definition at line 70 of file SpaceInformation.h.

## ◆ declareParams()

 void ompl::control::SpaceInformation::declareParams ( )
protected

Declare parameter settings

Definition at line 52 of file SpaceInformation.cpp.

## ◆ propagate() [1/2]

 void ompl::control::SpaceInformation::propagate ( const base::State * state, const Control * control, int steps, base::State * result ) const

Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.

Parameters
 state the state to start at control the control to apply steps the number of time steps to apply the control for. Each time step is of length getPropagationStepSize() result the state at the end of the propagation

Definition at line 149 of file SpaceInformation.cpp.

## ◆ propagate() [2/2]

 void ompl::control::SpaceInformation::propagate ( const base::State * state, const Control * control, int steps, std::vector< base::State * > & result, bool alloc ) const

Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.

Parameters
 state the state to start at control the control to apply steps the number of time steps to apply the control for. Each time step is of length getPropagationStepSize(). If steps is negative, backward propagation will be performed. result the set of states along the propagated motion alloc flag indicating whether memory for the states in result should be allocated
Note
Start state state is not included in result

Definition at line 223 of file SpaceInformation.cpp.

## ◆ propagateWhileValid() [1/2]

 unsigned int ompl::control::SpaceInformation::propagateWhileValid ( const base::State * state, const Control * control, int steps, base::State * result ) const

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and result = state.

Parameters
 state the state to start at control the control to apply steps the maximum number of time steps to apply the control for. Each time step is of length getPropagationStepSize(). If steps is negative, backward propagation will be performed. result the state at the end of the propagation or the last valid state if a collision is found

Definition at line 168 of file SpaceInformation.cpp.

## ◆ propagateWhileValid() [2/2]

 unsigned int ompl::control::SpaceInformation::propagateWhileValid ( const base::State * state, const Control * control, int steps, std::vector< base::State * > & result, bool alloc ) const

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and no states are added to result. If alloc is false and result cannot store all the generated states, propagation is stopped prematurely (when result is full). The starting state (state) is not included in result. The return value of the function indicates how many states have been written to result.

Parameters
 state the state to start at control the control to apply steps the maximum number of time steps to apply the control for. Each time step is of length getPropagationStepSize(). If steps is negative, backward propagation will be performed. result the set of states along the propagated motion (only valid states included) alloc flag indicating whether memory for the states in result should be allocated

Definition at line 257 of file SpaceInformation.cpp.

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