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	PDF
	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.