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ProblemDefinition.h
260 void setGoalState(const State *goal, double threshold = std::numeric_limits<double>::epsilon());
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
A shared pointer wrapper for ompl::base::Goal.
A shared pointer wrapper for ompl::base::OptimizationObjective.
Abstract definition of optimization objectives.
Definition OptimizationObjective.h:71
A shared pointer wrapper for ompl::base::Path.
A shared pointer wrapper for ompl::base::ProblemDefinition.
Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...
Definition ProblemDefinition.h:153
void getInputStates(std::vector< const State * > &states) const
Get all the input states. This includes start states and states that are part of goal regions that ca...
Definition ProblemDefinition.cpp:274
void setGoalState(const State *goal, double threshold=std::numeric_limits< double >::epsilon())
A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is ...
Definition ProblemDefinition.cpp:188
void clearSolutionNonExistenceProof()
Removes any existing instance of SolutionNonExistenceProof.
Definition ProblemDefinition.cpp:490
bool isTrivial(unsigned int *startIndex=nullptr, double *distance=nullptr) const
A problem is trivial if a given starting state already in the goal region, so we need no motion plann...
Definition ProblemDefinition.cpp:372
std::size_t getSolutionCount() const
Get the number of solutions already found.
Definition ProblemDefinition.cpp:409
void addStartState(const State *state)
Add a start state. The state is copied.
Definition ProblemDefinition.h:182
bool hasStartState(const State *state, unsigned int *startIndex=nullptr) const
Check whether a specified starting state is already included in the problem definition and optionally...
Definition ProblemDefinition.cpp:197
unsigned int getStartStateCount() const
Returns the number of start states.
Definition ProblemDefinition.h:207
bool fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts)
Helper function for fixInvalidInputStates(). Attempts to fix an individual state.
Definition ProblemDefinition.cpp:209
void print(std::ostream &out=std::cout) const
Print information about the start and goal states and the optimization objective.
Definition ProblemDefinition.cpp:466
void addSolutionPath(const PathPtr &path, bool approximate=false, double difference=-1.0, const std::string &plannerName="Unknown") const
Add a solution path in a thread-safe manner. Multiple solutions can be set for a goal....
Definition ProblemDefinition.cpp:424
void setStartAndGoalStates(const ScopedState<> &start, const ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
In the simplest case possible, we have a single starting state and a single goal state.
Definition ProblemDefinition.h:263
bool hasExactSolution() const
Returns true if an exact solution path has been found. Specifically returns hasSolution && !...
Definition ProblemDefinition.h:341
const ReportIntermediateSolutionFn & getIntermediateSolutionCallback() const
When this function returns a valid function pointer, that function should be called by planners that ...
Definition ProblemDefinition.h:296
bool fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts)
Many times the start or goal state will barely touch an obstacle. In this case, we may want to automa...
Definition ProblemDefinition.cpp:245
const State * getStartState(unsigned int index) const
Returns a specific start state.
Definition ProblemDefinition.h:213
void addStartState(const ScopedState<> &state)
Add a start state. The state is copied.
Definition ProblemDefinition.h:188
void setSolutionNonExistenceProof(const SolutionNonExistenceProofPtr &nonExistenceProof)
Set the instance of SolutionNonExistenceProof for this problem definition.
Definition ProblemDefinition.cpp:500
PathPtr isStraightLinePathValid() const
Check if a straight line path is valid. If it is, return an instance of a path that represents the st...
Definition ProblemDefinition.cpp:290
void setGoalState(const ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
A simple form of setting the goal. This is called by setStartAndGoalStates(). A more general form is ...
Definition ProblemDefinition.h:270
bool hasApproximateSolution() const
Return true if the top found solution is approximate (does not actually reach the desired goal,...
Definition ProblemDefinition.cpp:441
bool hasSolutionNonExistenceProof() const
Returns true if the problem definition has a proof of non existence for a solution.
Definition ProblemDefinition.cpp:485
SolutionNonExistenceProofPtr nonExistenceProof_
A Representation of a proof of non-existence of a solution for this problem definition.
Definition ProblemDefinition.h:421
bool hasSolution() const
Returns true if a solution path has been found (could be approximate)
Definition ProblemDefinition.cpp:404
bool hasOptimizationObjective() const
Check if an optimization objective was defined for planning
Definition ProblemDefinition.h:277
bool getSolution(PlannerSolution &solution) const
Return true if a top solution is found, with the top solution passed by reference in the function hea...
Definition ProblemDefinition.cpp:419
State * getStartState(unsigned int index)
Returns a specific start state.
Definition ProblemDefinition.h:219
PathPtr getSolutionPath() const
Return the top solution path, if one is found. The top path is the shortest one that was found,...
Definition ProblemDefinition.cpp:414
const SolutionNonExistenceProofPtr & getSolutionNonExistenceProof() const
Retrieve a pointer to the SolutionNonExistenceProof instance for this problem definition.
Definition ProblemDefinition.cpp:495
void setOptimizationObjective(const OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to be considered during planning.
Definition ProblemDefinition.h:289
void setStartAndGoalStates(const State *start, const State *goal, double threshold=std::numeric_limits< double >::epsilon())
In the simplest case possible, we have a single starting state and a single goal state.
Definition ProblemDefinition.cpp:181
OptimizationObjectivePtr optimizationObjective_
The objective to be optimized while solving the planning problem.
Definition ProblemDefinition.h:424
std::vector< PlannerSolution > getSolutions() const
Get all the solution paths available for this goal.
Definition ProblemDefinition.cpp:456
const OptimizationObjectivePtr & getOptimizationObjective() const
Get the optimization objective to be considered during planning.
Definition ProblemDefinition.h:283
ReportIntermediateSolutionFn intermediateSolutionCallback_
Callback function which is called when a new intermediate solution has been found.
Definition ProblemDefinition.h:427
SpaceInformationPtr si_
The space information this problem definition is for.
Definition ProblemDefinition.h:412
bool hasOptimizedSolution() const
Return true if the top found solution is optimized (satisfies the specified optimization objective)
Definition ProblemDefinition.cpp:446
void setIntermediateSolutionCallback(const ReportIntermediateSolutionFn &callback)
Set the callback to be called by planners that can compute intermediate solutions.
Definition ProblemDefinition.h:302
void clearSolutionPaths() const
Forget the solution paths (thread safe). Memory is freed.
Definition ProblemDefinition.cpp:461
ProblemDefinitionPtr clone() const
Return a copy of the problem definition.
Definition ProblemDefinition.cpp:168
const SpaceInformationPtr & getSpaceInformation() const
Get the space information this problem definition is for.
Definition ProblemDefinition.h:176
double getSolutionDifference() const
Get the distance to the desired goal for the top solution. Return -1.0 if there are no solutions avai...
Definition ProblemDefinition.cpp:451
A shared pointer wrapper for ompl::base::SolutionNonExistenceProof.
A shared pointer wrapper for ompl::base::SpaceInformation.
std::function< void(const Planner *, const std::vector< const base::State * > &, const Cost)> ReportIntermediateSolutionFn
When a planner has an intermediate solution (e.g., optimizing planners), a function with this signatu...
Definition ProblemDefinition.h:144
STL namespace.
Representation of a solution to a planning problem.
Definition ProblemDefinition.h:70
PlannerSolution(const PathPtr &path)
Construct a solution that consists of a path and its attributes (whether it is approximate and the di...
Definition ProblemDefinition.h:73
int index_
When multiple solutions are found, each is given a number starting at 0, so that the order in which t...
Definition ProblemDefinition.h:112
bool optimized_
True if the solution was optimized to meet the specified optimization criterion.
Definition ProblemDefinition.h:127
std::string plannerName_
Name of planner type that generated this solution, as received from Planner::getName()
Definition ProblemDefinition.h:136
void setApproximate(double difference)
Specify that the solution is approximate and set the difference to the goal.
Definition ProblemDefinition.h:89
bool operator==(const PlannerSolution &p) const
Return true if two solutions are the same.
Definition ProblemDefinition.h:80
Cost cost_
The cost of this solution path, with respect to the optimization objective.
Definition ProblemDefinition.h:133
OptimizationObjectivePtr opt_
Optimization objective that was used to optimize this solution.
Definition ProblemDefinition.h:130
bool approximate_
True if goal was not achieved, but an approximate solution was found.
Definition ProblemDefinition.h:121
double length_
For efficiency reasons, keep the length of the path as well.
Definition ProblemDefinition.h:118
double difference_
The achieved difference between the found solution and the desired goal.
Definition ProblemDefinition.h:124
void setPlannerName(const std::string &name)
Set the name of the planner used to compute this solution.
Definition ProblemDefinition.h:105
bool operator<(const PlannerSolution &b) const
Define a ranking for solutions.
Definition ProblemDefinition.cpp:148
void setOptimized(const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
Set the optimization objective used to optimize this solution, the cost of the solution and whether i...
Definition ProblemDefinition.h:97