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| Thunder (const base::SpaceInformationPtr &si) |
| | Constructor needs the state space used for planning.
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| | Thunder (const base::StateSpacePtr &space) |
| | Constructor needs the state space used for planning. More...
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void | printResultsInfo (std::ostream &out=std::cout) const override |
| | Display debug data about potential available solutions.
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void | printLogs (std::ostream &out=std::cout) const override |
| | Display debug data about overall results from Thunder since being loaded.
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ompl::base::PlannerPtr & | getPlanner () |
| | Get the current planner.
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ompl::geometric::ThunderRetrieveRepair & | getRetrieveRepairPlanner () const |
| | Get a pointer to the retrieve repair planner.
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void | setRepairPlanner (const base::PlannerPtr &planner) override |
| | Set the planner to use for repairing experience paths inside the ThunderRetrieveRepair planner. If the planner is not set, a default planner is set.
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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.
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base::PlannerStatus | solve (double time=1.0) override |
| | Run the planner for up to a specified amount of time (default is 1 second)
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base::PlannerStatus | solve (const base::PlannerTerminationCondition &ptc) override |
| | Run the planner until ptc becomes true (at most)
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bool | save () override |
| | Save the experience database to file.
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bool | saveIfChanged () override |
| | Save the experience database to file if there has been a change.
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void | clear () override |
| | Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
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void | print (std::ostream &out=std::cout) const override |
| | Print information about the current setup.
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void | setup () override |
| | This method will create the necessary classes for planning. The solve() method will call this function automatically.
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void | getAllPlannerDatas (std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const override |
| | Get a vector of all the planning data in the database.
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std::size_t | getExperiencesCount () const override |
| | Get the total number of paths stored in the database.
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void | convertPlannerData (const ompl::base::PlannerDataPtr &plannerData, ompl::geometric::PathGeometric &path) |
| | Convert PlannerData to PathGeometric. Assume ordering of vertices is order of path.
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| bool | reversePathIfNecessary (ompl::geometric::PathGeometric &path1, ompl::geometric::PathGeometric &path2) |
| | If path1 and path2 have a better start/goal match when reverse, then reverse path2. More...
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ompl::tools::ThunderDBPtr | getExperienceDB () |
| | Hook for getting access to debug data.
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bool | doPostProcessing () override |
| | Allow accumlated experiences to be processed.
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| ExperienceSetup (const base::SpaceInformationPtr &si) |
| | Constructor needs the state space used for planning.
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| ExperienceSetup (const base::StateSpacePtr &space) |
| | Constructor needs the state space used for planning.
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void | logInitialize () |
| | Load the header (first row) of the csv file.
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void | convertLogToString (const ExperienceLog &log) |
| | Move data to string format and put in buffer.
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virtual void | saveDataLog (std::ostream &out=std::cout) |
| | Save debug data about overall results since being loaded.
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void | enablePlanningFromRecall (bool enable) |
| | Optionally disable the ability to use previous plans in solutions (but will still save them)
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void | enablePlanningFromScratch (bool enable) |
| | Optionally disable the ability to plan from scratch Note: Lightning can still save modified experiences if they are different enough.
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virtual const std::string & | getFilePath () const |
| | After setFile() is called, access the generated file path for loading and saving the experience database.
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| virtual bool | setFilePath (const std::string &filePath) |
| | Set the database file to load. Actual loading occurs when setup() is called. More...
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const ExperienceStats & | getStats () const |
| | Getter for logging data.
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| SimpleSetup (const base::SpaceInformationPtr &si) |
| | Constructor needs the state space used for planning.
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| SimpleSetup (const base::StateSpacePtr &space) |
| | Constructor needs the state space used for planning.
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const base::SpaceInformationPtr & | getSpaceInformation () const |
| | Get the current instance of the space information.
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const base::ProblemDefinitionPtr & | getProblemDefinition () const |
| | Get the current instance of the problem definition.
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base::ProblemDefinitionPtr & | getProblemDefinition () |
| | Get the current instance of the problem definition.
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const base::StateSpacePtr & | getStateSpace () const |
| | Get the current instance of the state space.
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const base::StateValidityCheckerPtr & | getStateValidityChecker () const |
| | Get the current instance of the state validity checker.
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const base::GoalPtr & | getGoal () const |
| | Get the current goal definition.
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const base::PlannerPtr & | getPlanner () const |
| | Get the current planner.
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const base::PlannerAllocator & | getPlannerAllocator () const |
| | Get the planner allocator.
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const PathSimplifierPtr & | getPathSimplifier () const |
| | Get the path simplifier.
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PathSimplifierPtr & | getPathSimplifier () |
| | Get the path simplifier.
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const base::OptimizationObjectivePtr & | getOptimizationObjective () const |
| | Get the optimization objective to use.
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bool | haveExactSolutionPath () const |
| | Return true if a solution path is available (previous call to solve() was successful) and the solution is exact (not approximate)
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bool | haveSolutionPath () const |
| | Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
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const std::string | getSolutionPlannerName () const |
| | Get the best solution's planer name. Throw an exception if no solution is available.
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PathGeometric & | getSolutionPath () const |
| | Get the solution path. Throw an exception if no solution is available.
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void | getPlannerData (base::PlannerData &pd) const |
| | Get information about the exploration data structure the motion planner used.
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void | setStateValidityChecker (const base::StateValidityCheckerPtr &svc) |
| | Set the state validity checker to use.
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void | setStateValidityChecker (const base::StateValidityCheckerFn &svc) |
| | Set the state validity checker to use.
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void | setOptimizationObjective (const base::OptimizationObjectivePtr &optimizationObjective) |
| | Set the optimization objective to use.
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void | setStartAndGoalStates (const base::ScopedState<> &start, const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon()) |
| | Set the start and goal states to use.
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void | addStartState (const base::ScopedState<> &state) |
| | Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called.
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void | clearStartStates () |
| | Clear the currently set starting states.
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void | setStartState (const base::ScopedState<> &state) |
| | Clear the currently set starting states and add state as the starting state.
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void | setGoalState (const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon()) |
| | A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
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void | setGoal (const base::GoalPtr &goal) |
| | Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
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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.
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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.
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base::PlannerStatus | getLastPlannerStatus () const |
| | Return the status of the last planning attempt.
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double | getLastPlanComputationTime () const |
| | Get the amount of time (in seconds) spent during the last planning step.
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double | getLastSimplificationTime () const |
| | Get the amount of time (in seconds) spend during the last path simplification step.
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void | simplifySolution (double duration=0.0) |
| | Attempt to simplify the current solution path. Spent at most duration seconds in the simplification process. If duration is 0 (the default), a default simplification procedure is executed.
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void | simplifySolution (const base::PlannerTerminationCondition &ptc) |
| | Attempt to simplify the current solution path. Stop computation when ptc becomes true at the latest.
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Built off of SimpleSetup but provides support for planning from experience.
Definition at line 150 of file Thunder.h.
Public Member Functions inherited from ompl::tools::ExperienceSetup