SimpleSetup.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_SIMPLE_SETUP_
38 #define OMPL_GEOMETRIC_SIMPLE_SETUP_
39 
40 #include "ompl/base/Planner.h"
41 #include "ompl/base/PlannerData.h"
42 #include "ompl/base/SpaceInformation.h"
43 #include "ompl/base/ProblemDefinition.h"
44 #include "ompl/geometric/PathGeometric.h"
45 #include "ompl/geometric/PathSimplifier.h"
46 #include "ompl/util/Console.h"
47 #include "ompl/util/Exception.h"
48 
49 namespace ompl
50 {
51  namespace geometric
52  {
54  OMPL_CLASS_FORWARD(SimpleSetup);
56 
62  class SimpleSetup
63  {
64  public:
66  explicit SimpleSetup(const base::SpaceInformationPtr &si);
67 
69  explicit SimpleSetup(const base::StateSpacePtr &space);
70 
71  virtual ~SimpleSetup() = default;
72 
74  const base::SpaceInformationPtr &getSpaceInformation() const
75  {
76  return si_;
77  }
78 
80  const base::ProblemDefinitionPtr &getProblemDefinition() const
81  {
82  return pdef_;
83  }
84 
86  base::ProblemDefinitionPtr &getProblemDefinition()
87  {
88  return pdef_;
89  }
90 
92  const base::StateSpacePtr &getStateSpace() const
93  {
94  return si_->getStateSpace();
95  }
96 
98  const base::StateValidityCheckerPtr &getStateValidityChecker() const
99  {
100  return si_->getStateValidityChecker();
101  }
102 
104  const base::GoalPtr &getGoal() const
105  {
106  return pdef_->getGoal();
107  }
108 
110  const base::PlannerPtr &getPlanner() const
111  {
112  return planner_;
113  }
114 
117  {
118  return pa_;
119  }
120 
122  const PathSimplifierPtr &getPathSimplifier() const
123  {
124  return psk_;
125  }
126 
129  {
130  return psk_;
131  }
132 
134  const base::OptimizationObjectivePtr &getOptimizationObjective() const
135  {
136  return pdef_->getOptimizationObjective();
137  }
138 
141  bool haveExactSolutionPath() const
142  {
143  return pdef_->hasExactSolution();
144  }
145 
148  bool haveSolutionPath() const
149  {
150  return pdef_->hasSolution();
151  }
152 
154  const std::string getSolutionPlannerName() const;
155 
158 
160  void getPlannerData(base::PlannerData &pd) const;
161 
163  void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
164  {
165  si_->setStateValidityChecker(svc);
166  }
167 
170  {
171  si_->setStateValidityChecker(svc);
172  }
173 
175  void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
176  {
177  pdef_->setOptimizationObjective(optimizationObjective);
178  }
179 
181  void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal,
182  double threshold = std::numeric_limits<double>::epsilon());
183 
187  {
188  pdef_->addStartState(state);
189  }
190 
193  {
194  pdef_->clearStartStates();
195  }
196 
199  {
201  addStartState(state);
202  }
203 
206  double threshold = std::numeric_limits<double>::epsilon());
207 
210  void setGoal(const base::GoalPtr &goal);
211 
216  void setPlanner(const base::PlannerPtr &planner)
217  {
218  if (planner && planner->getSpaceInformation().get() != si_.get())
219  throw Exception("Planner instance does not match space information");
220  planner_ = planner;
221  configured_ = false;
222  }
223 
228  {
229  pa_ = pa;
230  planner_.reset();
231  configured_ = false;
232  }
233 
235  virtual base::PlannerStatus solve(double time = 1.0);
236 
239 
242  {
243  return lastStatus_;
244  }
245 
247  double getLastPlanComputationTime() const
248  {
249  return planTime_;
250  }
251 
253  double getLastSimplificationTime() const
254  {
255  return simplifyTime_;
256  }
257 
261  void simplifySolution(double duration = 0.0);
262 
266 
270  virtual void clear();
271 
273  virtual void print(std::ostream &out = std::cout) const;
274 
278  virtual void setup();
279 
280  protected:
282  base::SpaceInformationPtr si_;
283 
285  base::ProblemDefinitionPtr pdef_;
286 
288  base::PlannerPtr planner_;
289 
292 
295 
297  bool configured_;
298 
300  double planTime_;
301 
303  double simplifyTime_;
304 
307  };
308  }
309 }
310 #endif
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....
Definition: SimpleSetup.h:280
const base::OptimizationObjectivePtr & getOptimizationObjective() const
Get the optimization objective to use.
Definition: SimpleSetup.h:198
const PathSimplifierPtr & getPathSimplifier() const
Get the path simplifier.
Definition: SimpleSetup.h:186
double getLastSimplificationTime() const
Get the amount of time (in seconds) spend during the last path simplification step.
Definition: SimpleSetup.h:317
A shared pointer wrapper for ompl::geometric::PathSimplifier.
double simplifyTime_
The amount of time the last path simplification step took.
Definition: SimpleSetup.h:367
base::PlannerStatus lastStatus_
The status of the last planning request.
Definition: SimpleSetup.h:370
const base::SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:138
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:361
const std::string getSolutionPlannerName() const
Get the best solution's planer name. Throw an exception if no solution is available.
void clearStartStates()
Clear the currently set starting states.
Definition: SimpleSetup.h:256
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Definition: SimpleSetup.h:205
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:156
PathSimplifierPtr psk_
The instance of the path simplifier.
Definition: SimpleSetup.h:358
Definition of a geometric path.
Definition: PathGeometric.h:98
const base::PlannerPtr & getPlanner() const
Get the current planner.
Definition: SimpleSetup.h:174
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:239
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
base::PlannerPtr planner_
The maintained planner instance.
Definition: SimpleSetup.h:352
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.
Definition: SimpleSetup.cpp:96
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 ...
Definition: SimpleSetup.h:291
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:54
base::PlannerStatus getLastPlannerStatus() const
Return the status of the last planning attempt.
Definition: SimpleSetup.h:305
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:227
A class to store the exit status of Planner::solve()
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:508
PathGeometric & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
const base::GoalPtr & getGoal() const
Get the current goal definition.
Definition: SimpleSetup.h:168
SimpleSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition: SimpleSetup.cpp:40
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:239
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
void setStartState(const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.
Definition: SimpleSetup.h:262
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful)....
Definition: SimpleSetup.h:212
double getLastPlanComputationTime() const
Get the amount of time (in seconds) spent during the last planning step.
Definition: SimpleSetup.h:311
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
Definition: SimpleSetup.cpp:77
void simplifySolution(double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification p...
std::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...
base::SpaceInformationPtr si_
The created space information.
Definition: SimpleSetup.h:346
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.
Definition: SimpleSetup.cpp:85
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for up to a specified amount of time (default is 1 second)
base::ProblemDefinitionPtr pdef_
The created problem definition.
Definition: SimpleSetup.h:349
Definition of a scoped state.
Definition: ScopedState.h:121
const base::StateValidityCheckerPtr & getStateValidityChecker() const
Get the current instance of the state validity checker.
Definition: SimpleSetup.h:162
void addStartState(const base::ScopedState<> &state)
Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...
Definition: SimpleSetup.h:250
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the current instance of the problem definition.
Definition: SimpleSetup.h:144
The exception type for ompl.
Definition: Exception.h:79
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
base::PlannerAllocator pa_
The optional planner allocator.
Definition: SimpleSetup.h:355
double planTime_
The amount of time the last planning step took.
Definition: SimpleSetup.h:364
const base::PlannerAllocator & getPlannerAllocator() const
Get the planner allocator.
Definition: SimpleSetup.h:180