SimpleSetup.cpp
86 // we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner
A shared pointer wrapper for ompl::base::SpaceInformation.
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
Definition: SimpleSetup.cpp:40
A shared pointer wrapper for ompl::control::ControlSpace.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
Definition: SimpleSetup.cpp:133
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:54
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:88
PathControl & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition: SimpleSetup.cpp:116
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SelfConfig.cpp:243
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Definition: SimpleSetup.cpp:127
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:128
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
Definition: SimpleSetup.cpp:140
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
Definition: SimpleSetup.cpp:78