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BundleSpaceSequenceImpl.h
48ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence(ompl::base::SpaceInformationPtr si, std::string type)
55ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence(std::vector<ompl::base::SpaceInformationPtr> &siVec,
63ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence(std::vector<ompl::base::SpaceInformationPtr> &siVec,
257void ompl::multilevel::BundleSpaceSequence<T>::setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef)
279 OMPL_ERROR("If you want to use other goal classes than \"GoalSampleableRegion\", you need to specify them "
301 ompl::base::ProblemDefinitionPtr pdefChild = std::make_shared<base::ProblemDefinition>(siChild);
314 ompl::base::GoalState *goal = static_cast<ompl::base::GoalState *>(pdefParent->getGoal().get());
323 ompl::base::GoalStates *goal = static_cast<ompl::base::GoalStates *>(pdefParent->getGoal().get());
double getThreshold() const
Get the distance to the goal that is allowed for a state to be considered in the goal region.
Definition GoalRegion.h:82
Abstract definition of a goal region that can be sampled.
Definition GoalSampleableRegion.h:48
virtual std::size_t getStateCount() const
Return the number of valid goal states.
Definition GoalStates.cpp:117
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
Definition GoalStates.cpp:109
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition PlannerData.h:175
unsigned int numEdges() const
Retrieve the number of edges in this structure.
Definition PlannerData.cpp:207
unsigned int numVertices() const
Retrieve the number of vertices in this structure.
Definition PlannerData.cpp:202
const PlannerDataVertex & getVertex(unsigned int index) const
Retrieve a reference to the vertex object with the given index. If this vertex does not exist,...
Definition PlannerData.cpp:212
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
const ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition the planner is trying to solve.
Definition Planner.cpp:71
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition Planner.cpp:92
virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef)
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition Planner.cpp:81
virtual void getPlannerData(PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition Planner.cpp:129
void setFindSectionStrategy(FindSectionType type)
Set strategy to use to solve the find section problem.
Definition BundleSpaceSequenceImpl.h:138
virtual void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition BundleSpaceSequenceImpl.h:151
unsigned int currentBundleSpaceLevel_
Current level on which we have not yet found a path.
Definition BundleSpaceSequence.h:127
virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition BundleSpaceSequenceImpl.h:257
ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition BundleSpaceSequenceImpl.h:180
virtual void clear() override
Clear multilevel planner by clearing all levels.
Definition BundleSpaceSequenceImpl.h:162
bool foundKLevelSolution_
Indicator if a solution has been found on the current BundleSpaces.
Definition BundleSpaceSequence.h:124
virtual void getPlannerData(ompl::base::PlannerData &data) const override
Return annotated vertices (with information about BundleSpace level)
Definition BundleSpaceSequenceImpl.h:376
unsigned int stopAtLevel_
Sometimes we only want to plan until a certain BundleSpace level (for debugging for example)....
Definition BundleSpaceSequence.h:132
ompl::base::State * getTotalState(int baseLevel, const base::State *baseState) const
Starting from a baseState on baseLevel, we lift it iteratively upwards into the total space of the se...
Definition BundleSpaceSequenceImpl.h:347
BundleSpaceSequence(ompl::base::SpaceInformationPtr si, std::string type="BundleSpacePlannerNonMultilevel")
Non-multilevel Mode: Calling with a single ompl::base::SpaceInformationPtr will revert to standard pl...
Definition BundleSpaceSequenceImpl.h:48
virtual void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition BundleSpace.cpp:164
ProjectionPtr getProjection() const
Get ProjectionPtr from Bundle to Base.
Definition BundleSpace.cpp:226
virtual void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition BundleSpace.cpp:134
virtual bool isInfeasible()
Check if any infeasibility guarantees are fulfilled.
Definition BundleSpace.cpp:369
void setProjection(ProjectionPtr projection)
Set explicit projection (so that we do not need to guess.
Definition BundleSpace.cpp:216
virtual bool getSolution(ompl::base::PathPtr &solution)=0
Return best solution.
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.
Definition BundleSpace.cpp:323
ompl::base::State * allocIdentityStateBundle() const
Allocate State, set entries to Identity/Zero.
Definition BundleSpace.cpp:313
virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition BundleSpace.cpp:206
An annotated vertex, adding information about its level in the multilevel hierarchy....
Definition PlannerDataVertexAnnotated.h:56
void setTotalState(ompl::base::State *s, ompl::base::SpaceInformationPtr si)
Set total state, i.e. the lift of the base state to the total space (last Spaceinformationptr in sequ...
Definition PlannerDataVertexAnnotated.cpp:130
const ompl::base::State * getBaseState() const
Returns base state, indepent of mode.
Definition PlannerDataVertexAnnotated.cpp:120
void setMaxLevel(unsigned int level_)
The maximum level in the bundle space hierarchy.
Definition PlannerDataVertexAnnotated.cpp:97
void setLevel(unsigned int level_)
The level of vertex in the bundle space hierarchy.
Definition PlannerDataVertexAnnotated.cpp:87
std::vector< ompl::base::ProblemDefinitionPtr > pdefVec_
Sequence of ProblemDefinitionPtr.
Definition PlannerMultiLevel.h:91
std::vector< ompl::base::SpaceInformationPtr > siVec_
Each abstraction level has a unique ompl::base::SpaceInformationPtr.
Definition PlannerMultiLevel.h:94
virtual void clear() override
Clear multilevel planner by clearing all levels.
Definition PlannerMultiLevel.cpp:62
std::vector< ompl::base::PathPtr > solutions_
Solution paths on each abstraction level.
Definition PlannerMultiLevel.h:88
@ GOAL_STATE
This bit is set if casting to goal state (ompl::base::GoalState) is possible.
Definition GoalTypes.h:59
@ GOAL_STATES
This bit is set if casting to goal states (ompl::base::GoalStates) is possible.
Definition GoalTypes.h:62
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition Time.h:64
Representation of a solution to a planning problem.
Definition ProblemDefinition.h:70
void setPlannerName(const std::string &name)
Set the name of the planner used to compute this solution.
Definition ProblemDefinition.h:105
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49