SelfConfig.h
A boost shared pointer wrapper for ompl::base::StateSpace.
void print(std::ostream &out=std::cout) const
Print the computed configuration parameters.
Definition: SelfConfig.cpp:244
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...
Definition: NearestNeighborsGNAT.h:70
A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...
Definition: NearestNeighborsSqrtApprox.h:57
A boost shared pointer wrapper for ompl::base::Planner.
static NearestNeighbors< _T > * getDefaultNearestNeighbors(const base::StateSpacePtr &space)
Select a default nearest neighbor datastructure for the given space.
Definition: SelfConfig.h:93
double getAverageValidMotionLength()
Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionL...
Definition: SelfConfig.cpp:220
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
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...
Definition: SelfConfig.cpp:177
Abstract representation of a container that can perform nearest neighbors queries.
Definition: NearestNeighbors.h:50
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SelfConfig.cpp:250
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:238
double getProbabilityOfValidState()
Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidS...
Definition: SelfConfig.cpp:214
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:232
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:58
A boost shared pointer wrapper for ompl::base::Goal.
void configureValidStateSamplingAttempts(unsigned int &attempts)
Instances of base::ValidStateSampler need a number of attempts to be specified – the maximum number...
Definition: SelfConfig.cpp:226