exotica::OMPLSolver< ProblemType > Class Template Reference

#include <ompl_solver.h>

Inheritance diagram for exotica::OMPLSolver< ProblemType >:

Collaboration diagram for exotica::OMPLSolver< ProblemType >:

Public Member Functions
	OMPLSolver ()
virtual	~OMPLSolver ()
void	Solve (Eigen::MatrixXd &solution) override
void	SpecifyProblem (PlanningProblemPtr pointer) override
int	GetRandomSeed () const
double	GetMaximumExtent () const
double	GetLongestValidSegmentLength () const
void	SetLongestValidSegmentFraction (double segmentFraction)
void	SetValidSegmentCountFactor (unsigned int factor)
unsigned int	GetValidSegmentCountFactor () const
Public Member Functions inherited from exotica::MotionSolver
	MotionSolver ()=default
virtual	~MotionSolver ()=default
void	InstantiateBase (const Initializer &init) override
PlanningProblemPtr	GetProblem () const
std::string	Print (const std::string &prepend) const override
void	SetNumberOfMaxIterations (int max_iter)
int	GetNumberOfMaxIterations ()
double	GetPlanningTime ()
Public Member Functions inherited from exotica::Object
	Object ()
virtual	~Object ()
virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...
std::string	GetObjectName ()
void	InstantiateObject (const Initializer &init)
Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default
virtual	~InstantiableBase ()=default
virtual Initializer	GetInitializerTemplate ()=0
virtual void	InstantiateInternal (const Initializer &init)=0
virtual std::vector< Initializer >	GetAllTemplates () const =0

Protected Member Functions
void	SetGoalState (Eigen::VectorXdRefConst qT, const double eps=0)
void	PreSolve ()
void	PostSolve ()
void	GetPath (Eigen::MatrixXd &traj, ompl::base::PlannerTerminationCondition &ptc)

Static Protected Member Functions
template<typename T >
static ompl::base::PlannerPtr	AllocatePlanner (const ompl::base::SpaceInformationPtr &si, const std::string &new_name)

Protected Attributes
OMPLSolverInitializer	init_
std::shared_ptr< ProblemType >	prob_
ompl::geometric::SimpleSetupPtr	ompl_simple_setup_
ompl::base::StateSpacePtr	state_space_
ConfiguredPlannerAllocator	planner_allocator_
std::string	algorithm_
bool	multi_query_ = false
std::vector< double >	bounds_
Protected Attributes inherited from exotica::MotionSolver
PlanningProblemPtr	problem_
double	planning_time_ = -1
int	max_iterations_ = 100

Additional Inherited Members
Public Attributes inherited from exotica::Object
std::string	ns_
std::string	object_name_
bool	debug_

Constructor & Destructor Documentation

OMPLSolver()

template<class ProblemType >

exotica::OMPLSolver< ProblemType >::OMPLSolver

(

)

~OMPLSolver()

template<class ProblemType >

virtual exotica::OMPLSolver< ProblemType >::~OMPLSolver ( )

virtual

Member Function Documentation

AllocatePlanner()

template<class ProblemType >

template<typename T >

static ompl::base::PlannerPtr exotica::OMPLSolver< ProblemType >::AllocatePlanner ( const ompl::base::SpaceInformationPtr &  si, const std::string &  new_name  )

inlinestaticprotected

GetLongestValidSegmentLength()

template<class ProblemType >

double exotica::OMPLSolver< ProblemType >::GetLongestValidSegmentLength ( ) const

inline

GetMaximumExtent()

template<class ProblemType >

double exotica::OMPLSolver< ProblemType >::GetMaximumExtent ( ) const

inline

GetPath()

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::GetPath ( Eigen::MatrixXd &  traj, ompl::base::PlannerTerminationCondition &  ptc  )

protected

GetRandomSeed()

template<class ProblemType >

int exotica::OMPLSolver< ProblemType >::GetRandomSeed

(

)

const

GetValidSegmentCountFactor()

template<class ProblemType >

unsigned int exotica::OMPLSolver< ProblemType >::GetValidSegmentCountFactor ( ) const

inline

PostSolve()

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::PostSolve ( )

protected

PreSolve()

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::PreSolve ( )

protected

SetGoalState()

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::SetGoalState ( Eigen::VectorXdRefConst  qT, const double  eps = 0  )

protected

SetLongestValidSegmentFraction()

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::SetLongestValidSegmentFraction ( double  segmentFraction )

inline

SetValidSegmentCountFactor()

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::SetValidSegmentCountFactor ( unsigned int  factor )

inline

Solve()

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::Solve ( Eigen::MatrixXd &  solution )

overridevirtual

Implements exotica::MotionSolver.

SpecifyProblem()

template<class ProblemType >

void exotica::OMPLSolver< ProblemType >::SpecifyProblem ( PlanningProblemPtr  pointer )

overridevirtual

Reimplemented from exotica::MotionSolver.

Member Data Documentation

algorithm_

template<class ProblemType >

std::string exotica::OMPLSolver< ProblemType >::algorithm_

protected

bounds_

template<class ProblemType >

std::vector<double> exotica::OMPLSolver< ProblemType >::bounds_

protected

init_

template<class ProblemType >

OMPLSolverInitializer exotica::OMPLSolver< ProblemType >::init_

protected

multi_query_

template<class ProblemType >

bool exotica::OMPLSolver< ProblemType >::multi_query_ = false

protected

ompl_simple_setup_

template<class ProblemType >

ompl::geometric::SimpleSetupPtr exotica::OMPLSolver< ProblemType >::ompl_simple_setup_

protected

planner_allocator_

template<class ProblemType >

ConfiguredPlannerAllocator exotica::OMPLSolver< ProblemType >::planner_allocator_

protected

prob_

template<class ProblemType >

std::shared_ptr<ProblemType> exotica::OMPLSolver< ProblemType >::prob_

protected

state_space_

template<class ProblemType >

ompl::base::StateSpacePtr exotica::OMPLSolver< ProblemType >::state_space_

protected

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The documentation for this class was generated from the following file:

• /tmp/exotica/exotations/solvers/exotica_ompl_solver/include/exotica_ompl_solver/ompl_solver.h