ompl::tools::SelfConfig Class Reference

This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached. More...

#include <ompl/tools/config/SelfConfig.h>

Public Member Functions
	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 console is prefixed by context.
double	getProbabilityOfValidState ()
	Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidState())
double	getAverageValidMotionLength ()
	Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionLength())
void	configureValidStateSamplingAttempts (unsigned int &attempts)
	Instances of base::ValidStateSampler need a number of attempts to be specified – the maximum number of times a new sample is selected and checked to be valid. This function computes a number of attempts such that the probability of obtaining a valid sample is 90%.
void	configurePlannerRange (double &range)
	Compute what a good length for motion segments is.
void	configureProjectionEvaluator (base::ProjectionEvaluatorPtr &proj)
	If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultProjection(). If no default projection is available either, an exception is thrown.
void	print (std::ostream &out=std::cout) const
	Print the computed configuration parameters.

Static Public Member Functions
template<typename _T >
static NearestNeighbors< _T > *	getDefaultNearestNeighbors (const base::Planner *planner)
	Select a default nearest neighbor datastructure for the given space. More...
static base::PlannerPtr	getDefaultPlanner (const base::GoalPtr &goal)
	Given a goal specification, decide on a planner for that goal.

Detailed Description

This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached.

Definition at line 123 of file SelfConfig.h.

Member Function Documentation

getDefaultNearestNeighbors()

template<typename _T >

static NearestNeighbors<_T>* ompl::tools::SelfConfig::getDefaultNearestNeighbors ( const base::Planner *  planner )

inlinestatic

Select a default nearest neighbor datastructure for the given space.

The default depends on the planning algorithm and the space the planner operates in:

• If the space is a metric space and the planner is single-threaded, then the default is ompl::NearestNeighborsGNATNoThreadSafety.
• If the space is a metric space and the planner is multi-threaded, then the default is ompl::NearestNeighborsGNAT.
• If the space is a not a metric space, then the default is ompl::NearestNeighborsSqrtApprox.

Definition at line 202 of file SelfConfig.h.

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

• ompl/tools/config/SelfConfig.h
• ompl/tools/config/src/SelfConfig.cpp