Planner.cpp
135 ompl::base::PlannerStatus ompl::base::Planner::solve(const PlannerTerminationConditionFn &ptc, double checkInterval)
151 out << "Reports approximate solutions: " << (getSpecs().approximateSolutions ? "Yes" : "No") << std::endl;
252 OMPL_DEBUG("%s: Discarded start state %s", planner_ ? planner_->getName().c_str() : "PlannerInputStates",
265 const ompl::base::State *ompl::base::PlannerInputStates::nextGoal(const PlannerTerminationCondition &ptc)
279 pdef_->getGoal()->hasType(GOAL_SAMPLEABLE_REGION) ? pdef_->getGoal()->as<GoalSampleableRegion>() : nullptr;
PlannerTerminationCondition plannerAlwaysTerminatingCondition()
Simple termination condition that always returns true. The termination condition will always be met.
Definition: PlannerTerminationCondition.cpp:190
bool haveMoreStartStates() const
Check if there are more potential start states.
Definition: Planner.cpp:339
void restart()
Forget how many states were returned by nextStart() and nextGoal() and return all states again.
Definition: Planner.cpp:180
PlannerTerminationCondition timedPlannerTerminationCondition(double duration)
Return a termination condition that will become true duration seconds in the future (wall-time)
Definition: PlannerTerminationCondition.cpp:216
std::function< bool()> PlannerTerminationConditionFn
Signature for functions that decide whether termination conditions have been met for a planner,...
Definition: PlannerTerminationCondition.h:120
A shared pointer wrapper for ompl::base::SpaceInformation.
Helper class to extract valid start & goal states. Usually used internally by planners.
Definition: Planner.h:141
const PlannerSpecs & getSpecs() const
Return the specifications (capabilities of this planner)
Definition: Planner.cpp:51
virtual void printSettings(std::ostream &out) const
Print information about the motion planner's settings.
Definition: Planner.cpp:161
virtual bool couldSample() const
Return true if samples could be generated by this sampler at some point in the future....
Definition: GoalSampleableRegion.h:171
const SpaceInformationPtr & getSpaceInformation() const
Get the space information this planner is using.
Definition: Planner.cpp:66
bool canSample() const
Return true if maxSampleCount() > 0, since in this case samples can certainly be produced.
Definition: GoalSampleableRegion.h:161
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: Planner.cpp:92
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
virtual void checkValidity()
Check to see if the planner is in a working state (setup has been called, a goal was set,...
Definition: Planner.cpp:106
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:127
const State * nextStart()
Return the next valid start state or nullptr if no more valid start states are available.
Definition: Planner.cpp:228
const PlannerInputStates & getPlannerInputStates() const
Get the planner input states.
Definition: Planner.cpp:87
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:112
virtual PlannerStatus solve(const PlannerTerminationCondition &ptc)=0
Function that can solve the motion planning problem. This function can be called multiple times on th...
A shared pointer wrapper for ompl::base::ProblemDefinition.
virtual void clearQuery()
Clears internal datastructures of any query-specific information from the previous query....
Definition: Planner.cpp:124
bool hasType(GoalType type) const
Check if this goal can be cast to a particular goal type.
Definition: Goal.h:166
void checkValidity() const
Check if the problem definition was set, start state are available and goal was set.
Definition: Planner.cpp:193
bool use(const ProblemDefinitionPtr &pdef)
Set the problem definition this class operates on. If a planner is not set in the constructor argumen...
Definition: Planner.cpp:216
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: Planner.cpp:118
const State * nextGoal()
Same as above but only one attempt is made to find a valid goal.
Definition: Planner.cpp:258
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:152
virtual void sampleGoal(State *st) const =0
Sample a state in the goal region.
std::map< std::string, std::string > properties
Any extra properties (key-value pairs) the planner can set.
Definition: PlannerData.h:474
virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef)
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition: Planner.cpp:81
virtual void getPlannerData(PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: Planner.cpp:129
bool haveMoreGoalStates() const
Check if there are more potential goal states.
Definition: Planner.cpp:346
virtual void printProperties(std::ostream &out) const
Print properties of the motion planner.
Definition: Planner.cpp:147
Abstract definition of a goal region that can be sampled.
Definition: GoalSampleableRegion.h:111
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:128
const ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition the planner is trying to solve.
Definition: Planner.cpp:71
bool update()
Set the space information and problem definition this class operates on, based on the available plann...
Definition: Planner.cpp:186