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SelfConfig.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_TOOLS_SELF_CONFIG_
38#define OMPL_TOOLS_SELF_CONFIG_
39
40#include "ompl/config.h"
41#include "ompl/base/Goal.h"
42#include "ompl/base/Planner.h"
43#include "ompl/base/SpaceInformation.h"
44#include "ompl/datastructures/NearestNeighborsSqrtApprox.h"
45#include "ompl/datastructures/NearestNeighborsGNAT.h"
46#include "ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h"
47#include <mutex>
48#include <iostream>
49#include <string>
50
51namespace ompl
52{
54 namespace tools
55 {
60 {
61 public:
65 SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());
66
68
72
76
82 void configureValidStateSamplingAttempts(unsigned int &attempts);
83
85 void configurePlannerRange(double &range);
86
90 void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj);
91
93 void print(std::ostream &out = std::cout) const;
94
105 template <typename _T>
107 {
108 const base::StateSpacePtr &space = planner->getSpaceInformation()->getStateSpace();
109 const base::PlannerSpecs &specs = planner->getSpecs();
110 if (space->isMetricSpace())
111 {
112 if (specs.multithreaded)
113 return new NearestNeighborsGNAT<_T>();
115 }
117 }
118
120 static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
121
122 private:
124 class SelfConfigImpl;
125
126 SelfConfigImpl *impl_;
127 std::string context_;
128 static std::mutex staticConstructorLock_;
130 };
131 }
132}
133
134#endif
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search.
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search.
A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...
Abstract representation of a container that can perform nearest neighbors queries.
Base class for a planner.
Definition Planner.h:223
This class contains methods that automatically configure various parameters for motion planning....
Definition SelfConfig.h:60
static NearestNeighbors< _T > * getDefaultNearestNeighbors(const base::Planner *planner)
Select a default nearest neighbor datastructure for the given space.
Definition SelfConfig.h:106
void configureValidStateSamplingAttempts(unsigned int &attempts)
Instances of base::ValidStateSampler need a number of attempts to be specified – the maximum number o...
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
double getProbabilityOfValidState()
Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidS...
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
double getAverageValidMotionLength()
Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionL...
void print(std::ostream &out=std::cout) const
Print the computed configuration parameters.
SelfConfig(const base::SpaceInformationPtr &si, const std::string &context=std::string())
Construct an instance that can configure the space encapsulated by si. Any information printed to the...
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Main namespace. Contains everything in this library.
Properties that planners may have.
Definition Planner.h:192
bool multithreaded
Flag indicating whether multiple threads are used in the computation of the planner.
Definition Planner.h:199