ompl Namespace Reference

Main namespace. Contains everything in this library. More...

## Namespaces | |

base | |

This namespace contains sampling based planning routines shared by both planning under geometric constraints (geometric) and planning under differential constraints (dynamic) | |

control | |

This namespace contains sampling based planning routines used by planning under differential constraints. | |

geometric | |

This namespace contains code that is specific to planning under geometric constraints. | |

machine | |

This namespace contains routines that read specifications of the machine in use. | |

magic | |

This namespace includes magic constants used in various places in OMPL. | |

msg | |

Message namespace. This contains classes needed to output error messages (or logging) from within the library. Message logging can be performed with logging macros. | |

multilevel | |

This namespace contains datastructures and planners to exploit multilevel abstractions, which you have to specify using a sequence of SpaceInformationPtr (each with their own StateValidityChecker). | |

time | |

Namespace containing time datatypes and time operations. | |

tools | |

Includes various tools such as self config, benchmarking, etc. | |

## Classes | |

class | AdjacencyList |

class | BinaryHeap |

This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome, as it requires keeping track of the BinaryHeap::Element* type, however, it should be as fast as it gets with an updatable heap. More... | |

class | DynamicSSSP |

class | Exception |

The exception type for ompl. More... | |

class | FLANNDistance |

Wrapper class to allow FLANN access to the NearestNeighbors::distFun_ callback function. More... | |

class | GreedyKCenters |

An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other. More... | |

class | Grid |

Representation of a simple grid. More... | |

class | GridB |

This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells. More... | |

class | GridN |

Representation of a grid where cells keep track of how many neighbors they have. More... | |

class | LPAstarOnGraph |

class | NearestNeighbors |

Abstract representation of a container that can perform nearest neighbors queries. More... | |

class | NearestNeighborsFLANN |

Wrapper class for nearest neighbor data structures in the FLANN library. More... | |

class | NearestNeighborsFLANNHierarchicalClustering |

class | NearestNeighborsFLANNLinear |

class | NearestNeighborsGNAT |

Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search. More... | |

class | NearestNeighborsGNATNoThreadSafety |

Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search. More... | |

class | NearestNeighborsLinear |

A nearest neighbors datastructure that uses linear search. More... | |

class | NearestNeighborsSqrtApprox |

A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped). More... | |

class | Parameter |

Parameter represents a smooth interpolation between two parameter values, namely valueInit and valueTarget. The default class keeps a counter to track how often it was called. Starting at counterInit we then count towards counterTarget and smoothly interpolate parameter values inbetween. More... | |

class | ParameterExponentialDecay |

ParameterExponentialDecay represents a smooth interpolation between two parameter values using an exponential decay as interpolation. This decay depends on a paramter lambda, which can be tuned to either converge slow or fast to valueTarget. More... | |

class | ParameterSmoothStep |

ParameterSmoothStep represents a smooth interpolation between two parameter values using a hermite polynomial interpolation. More... | |

class | |

A container that supports probabilistic sampling over weighted data. More... | |

class | Permutation |

A permutation of indices into an array. More... | |

class | PPM |

Load and save .ppm files - "portable pixmap format" an image file formats designed to be easily exchanged between platforms. More... | |

class | ProlateHyperspheroid |

A class describing a prolate hyperspheroid, a special symmetric type of n-dimensional ellipse, for use in direct informed sampling for problems seeking to minimize path length. More... | |

class | RNG |

Random number generation. An instance of this class cannot be used by multiple threads at once (member functions are not const). However, the constructor is thread safe and different instances can be used safely in any number of threads. It is also guaranteed that all created instances will have a different random seed. More... | |

## Functions | |

double | nBallMeasure (unsigned int N, double r) |

The Lebesgue measure (i.e., "volume") of an n-dimensional ball of given radius. | |

double | unitNBallMeasure (unsigned int N) |

The Lebesgue measure (i.e., "volume") of an n-dimensional ball with a unit radius. | |

double | prolateHyperspheroidMeasure (unsigned int N, double dFoci, double dTransverse) |

The Lebesgue measure (i.e., "volume") of an n-dimensional prolate hyperspheroid (a symmetric hyperellipse) given as the distance between the foci and the transverse diameter. | |

template<class T > | |

void | hash_combine (std::size_t &seed, const T &v) |

float | stof (const std::string &str) |

convert string to float using classic "C" locale semantics | |

double | stod (const std::string &str) |

convert string to double using classic "C" locale semantics | |

long double | stold (const std::string &str) |

convert string to long double using classic "C" locale semantics | |

std::string | toString (float val) |

convert float to string using classic "C" locale semantics | |

std::string | toString (double val) |

convert double to string using classic "C" locale semantics | |

std::string | toString (long double val) |

convert long double to string using classic "C" locale semantics | |

## Detailed Description

Main namespace. Contains everything in this library.