ompl/tools/config/SelfConfig.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_TOOLS_SELF_CONFIG_
00038 #define OMPL_TOOLS_SELF_CONFIG_
00039 
00040 #include "ompl/config.h"
00041 #include "ompl/base/Goal.h"
00042 #include "ompl/base/Planner.h"
00043 #include "ompl/base/SpaceInformation.h"
00044 #include "ompl/datastructures/NearestNeighborsSqrtApprox.h"
00045 #include "ompl/datastructures/NearestNeighborsGNAT.h"
00046 #include <iostream>
00047 #include <string>
00048 
00049 namespace ompl
00050 {
00052     namespace tools
00053     {
00054 
00058         class SelfConfig
00059         {
00060         public:
00061 
00065             SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());
00066 
00067             ~SelfConfig();
00068 
00070             double getProbabilityOfValidState();
00071 
00073             double getAverageValidMotionLength();
00074 
00078             void configureValidStateSamplingAttempts(unsigned int &attempts);
00079 
00081             void configurePlannerRange(double &range);
00082 
00086             void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj);
00087 
00089             void print(std::ostream &out = std::cout) const;
00090 
00092             template<typename _T>
00093             static NearestNeighbors<_T>* getDefaultNearestNeighbors(const base::StateSpacePtr &space)
00094             {
00095                 if (space->isMetricSpace())
00096                     return new NearestNeighborsGNAT<_T>();
00097                 else
00098                     return new NearestNeighborsSqrtApprox<_T>();
00099             }
00100 
00102             static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
00103 
00104         private:
00105 
00107             class SelfConfigImpl;
00108 
00109             SelfConfigImpl *impl_;
00110             std::string     context_;
00112         };
00113     }
00114 }
00115 
00116 #endif
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