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Class Hierarchy

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This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 12345]
oCompl::base::DubinsStateSpace::DubinsPathComplete description of a Dubins path
oCompl::base::GenericParamMotion planning algorithms often employ parameters to guide their exploration process. (e.g., goal biasing). Motion planners (and some of their components) use this class to declare what the parameters are, in a generic way, so that they can be set externally
oCompl::base::GoalAbstract definition of goals
oCompl::base::GoalPtrA boost shared pointer wrapper for ompl::base::Goal
oCompl::base::MotionValidatorAbstract definition for a class checking the validity of motions – path segments between states. This is often called a local planner. The implementation of this class must be thread safe
oCompl::base::MotionValidatorPtrA boost shared pointer wrapper for ompl::base::MotionValidator
oCompl::base::ParamSetMaintain a set of parameters
oCompl::base::PathAbstract definition of a path
oCompl::base::PathPtrA boost shared pointer wrapper for ompl::base::Path
oCompl::base::PlannerBase class for a planner
oCompl::base::PlannerDataObject containing planner generated vertex and edge data. It is assumed that all vertices are unique, and only a single directed edge connects two vertices
oCompl::base::PlannerData::GraphWrapper class for the Boost.Graph representation of the PlannerData. This class inherits from a boost::adjacency_list Graph structure
oCompl::base::PlannerDataEdgeBase class for a PlannerData edge
oCompl::base::PlannerDataStorageObject that handles loading/storing a PlannerData object to/from a binary stream. Serialization of vertices and edges is performed using the Boost archive method serialize. Derived vertex/edge classes are handled, presuming those classes implement the serialize method
oCompl::base::PlannerDataStorage::HeaderInformation stored at the beginning of the PlannerData archive
oCompl::base::PlannerDataStorage::PlannerDataEdgeDataThe object containing all edge data that will be stored
oCompl::base::PlannerDataStorage::PlannerDataVertexDataThe object containing all vertex data that will be stored
oCompl::base::PlannerDataVertexBase class for a vertex in the PlannerData structure. All derived classes must implement the clone and equivalence operators. It is assumed that each vertex in the PlannerData structure is unique (i.e. no duplicates allowed)
oCompl::base::PlannerInputStatesHelper class to extract valid start & goal states. Usually used internally by planners
oCompl::base::PlannerPtrA boost shared pointer wrapper for ompl::base::Planner
oCompl::base::PlannerSolutionRepresentation of a solution to a planning problem
oCompl::base::PlannerSpecsProperties that planners may have
oCompl::base::PlannerStatusA class to store the exit status of Planner::solve()
oCompl::base::PlannerTerminationConditionEncapsulate a termination condition for a motion planner. Planners will call operator() to decide whether they should terminate before a solution is found or not. operator() will return true if either the implemented condition is met (the call to eval() returns true) or if the user called terminate(true)
oCompl::base::ProblemDefinitionDefinition of a problem to be solved. This includes the start state(s) for the system and a goal specification. Will contain solutions, if found
oCompl::base::ProblemDefinitionPtrA boost shared pointer wrapper for ompl::base::ProblemDefinition
oCompl::base::ProjectionEvaluatorAbstract definition for a class computing projections to Rn. Implicit integer grids are imposed on this projection space by setting cell sizes. Before use, the user must supply cell sizes for the integer grid (setCellSizes()). The implementation of this class is thread safe
oCompl::base::ProjectionEvaluatorPtrA boost shared pointer wrapper for ompl::base::ProjectionEvaluator
oCompl::base::ProjectionMatrixA projection matrix – it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated
oCompl::base::RealVectorBoundsThe lower and upper bounds for an Rn space
oCompl::base::ReedsSheppStateSpace::ReedsSheppPathComplete description of a ReedsShepp path
oCompl::base::SamplerSelector< T >Depending on the type of state sampler, we have different allocation routines
oCompl::base::ScopedState< T >Definition of a scoped state
oCompl::base::SolutionNonExistenceProofAbstract definition of a proof for the non-existence of a solution to a problem
oCompl::base::SolutionNonExistenceProofPtrA boost shared pointer wrapper for ompl::base::SolutionNonExistenceProof
oCompl::base::SpaceInformationThe base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use
oCompl::base::SpaceInformationPtrA boost shared pointer wrapper for ompl::base::SpaceInformation
oCompl::base::StateDefinition of an abstract state
oCompl::base::StatePropagatorPtrA boost shared pointer wrapper for ompl::control::StatePropagator
oCompl::base::StateSamplerAbstract definition of a state space sampler
oCompl::base::StateSamplerArray< T >Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planners
oCompl::base::StateSamplerPtrA boost shared pointer wrapper for ompl::base::StateSampler
oCompl::base::StateSpaceRepresentation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined
oCompl::base::StateSpace::SubstateLocationRepresentation of the address of a substate in a state. This structure stores the indexing information needed to access a particular substate of a state
oCompl::base::StateSpace::ValueLocationRepresentation of the address of a value in a state. This structure stores the indexing information needed to access elements of a state (no pointer values are stored)
oCompl::base::StateSpacePtrA boost shared pointer wrapper for ompl::base::StateSpace
oCompl::base::StateStorageManage loading and storing for a set of states of a specified state space
oCompl::base::StateStorage::HeaderInformation stored at the beginning of the archive
oCompl::base::StateValidityCheckerAbstract definition for a class checking the validity of states. The implementation of this class must be thread safe
oCompl::base::StateValidityCheckerPtrA boost shared pointer wrapper for ompl::base::StateValidityChecker
oCompl::base::StateValidityCheckerSpecsProperties that a state validity checker may have
oCompl::base::ValidStateSamplerAbstract definition of a state sampler
oCompl::base::ValidStateSamplerPtrA boost shared pointer wrapper for ompl::base::ValidStateSampler
oCompl::BinaryHeap< _T, LessThan >This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome, as it requires keeping track of the BinaryHeap::Element* type, however, it should be as fast as it gets with an updatable heap
oCompl::BinaryHeap< _T, LessThan >::ElementWhen an element is added to the heap, an instance of Element* is created. This instance contains the data that was added and internal information about the position of the data in the heap's internal storage
oCompl::control::ControlDefinition of an abstract control
oCompl::control::ControlSamplerAbstract definition of a control sampler. Motion planners that need to sample controls will call functions from this class. Planners should call the versions of sample() and sampleNext() with most arguments, whenever this information is available
oCompl::control::ControlSamplerPtrA boost shared pointer wrapper for ompl::control::ControlSampler
oCompl::control::ControlSpaceA control space representing the space of applicable controls
oCompl::control::ControlSpacePtrA boost shared pointer wrapper for ompl::control::ControlSpace
oCompl::control::DecompositionA Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers
oCompl::control::DecompositionPtrA boost shared pointer wrapper for ompl::control::Decomposition
oCompl::control::DirectedControlSamplerAbstract definition of a directed control sampler. Motion planners that need to sample controls that take the system to a desired direction will call functions from this class. Planners should call the versions of sampleTo() with most arguments, whenever this information is available. If no direction information is available, the use of a ControlSampler is perhaps more appropriate
oCompl::control::DirectedControlSamplerPtrA boost shared pointer wrapper for ompl::control::DirectedControlSampler
oCompl::control::EST::MotionRepresentation of a motion
oCompl::control::EST::MotionInfoA struct containing an array of motions and a corresponding PDF element
oCompl::control::EST::TreeDataThe data contained by a tree of exploration
oCompl::control::KPIECE1::CellDataThe data held by a cell in the grid of motions
oCompl::control::KPIECE1::CloseSampleInformation about a known good sample (closer to the goal than others)
oCompl::control::KPIECE1::CloseSamplesBounded set of good samples
oCompl::control::KPIECE1::MotionRepresentation of a motion for this algorithm
oCompl::control::KPIECE1::OrderCellsByImportanceDefinintion of an operator passed to the Grid structure, to order cells by importance
oCompl::control::KPIECE1::TreeDataThe data defining a tree of motions for this algorithm
oCompl::control::ODESolverAbstract base class for an object that can solve ordinary differential equations (ODE) of the type q' = f(q,u) using numerical integration. Classes deriving from this must implement the solve method. The user must supply the ODE to solve
oCompl::control::OpenDEEnvironmentThis class contains the OpenDE constructs OMPL needs to know about when planning
oCompl::control::OpenDEEnvironmentPtrA boost shared pointer wrapper for ompl::control::OpenDEEnvironment
oCompl::control::RRT::MotionRepresentation of a motion
oCompl::control::SimpleSetupCreate the set of classes typically needed to solve a control problem
oCompl::control::SimpleSetupPtrA boost shared pointer wrapper for ompl::control::SimpleSetup
oCompl::control::SpaceInformationPtrA boost shared pointer wrapper for ompl::control::SpaceInformation
oCompl::control::StatePropagatorModel the effect of controls on system states
oCompl::control::Syclop::AdjacencyRepresentation of an adjacency (a directed edge) between two regions in the Decomposition assigned to Syclop
oCompl::control::Syclop::DefaultsContains default values for Syclop parameters
oCompl::control::Syclop::MotionRepresentation of a motion
oCompl::control::Syclop::RegionRepresentation of a region in the Decomposition assigned to Syclop
oCompl::ExceptionThe exception type for ompl
oCompl::geometric::BallTreeRRTstar::MotionRepresentation of a motion
oCompl::geometric::BKPIECE1::MotionRepresentation of a motion for this algorithm
oCompl::geometric::Discretization< Motion >One-level discretization used for KPIECE
oCompl::geometric::Discretization< Motion >::CellDataThe data held by a cell in the grid of motions
oCompl::geometric::Discretization< Motion >::OrderCellsByImportanceDefinintion of an operator passed to the Grid structure, to order cells by importance
oCompl::geometric::EST::MotionThe definition of a motion
oCompl::geometric::EST::MotionInfoA struct containing an array of motions and a corresponding PDF element
oCompl::geometric::EST::TreeDataThe data contained by a tree of exploration
oCompl::geometric::GAIKInverse Kinematics with Genetic Algorithms
oCompl::geometric::HCIKInverse Kinematics with Hill Climbing
oCompl::geometric::KPIECE1::MotionRepresentation of a motion for this algorithm
oCompl::geometric::KStrategy< Milestone >
oCompl::geometric::LazyRRT::MotionRepresentation of a motion
oCompl::geometric::LBKPIECE1::MotionRepresentation of a motion for this algorithm
oCompl::geometric::PathHybridizationGiven multiple geometric paths, attempt to combine them in order to obtain a shorter solution
oCompl::geometric::PathHybridizationPtrA boost shared pointer wrapper for ompl::geometric::PathHybridization
oCompl::geometric::PathSimplifierThis class contains routines that attempt to simplify geometric paths
oCompl::geometric::PathSimplifierPtrA boost shared pointer wrapper for ompl::geometric::PathSimplifier
oCompl::geometric::PRM::vertex_state_t
oCompl::geometric::PRM::vertex_successful_connection_attempts_t
oCompl::geometric::PRM::vertex_total_connection_attempts_t
oCompl::geometric::pRRT::Motion
oCompl::geometric::pRRT::SolutionInfo
oCompl::geometric::pSBL::Motion
oCompl::geometric::pSBL::MotionInfoA struct containing an array of motions and a corresponding PDF element
oCompl::geometric::pSBL::MotionsToBeRemoved
oCompl::geometric::pSBL::PendingRemoveMotion
oCompl::geometric::pSBL::SolutionInfo
oCompl::geometric::pSBL::TreeData
oCompl::geometric::RRT::MotionRepresentation of a motion
oCompl::geometric::RRTConnect::MotionRepresentation of a motion
oCompl::geometric::RRTConnect::TreeGrowingInfoInformation attached to growing a tree of motions (used internally)
oCompl::geometric::RRTstar::MotionRepresentation of a motion
oCompl::geometric::SampleContrib
oCompl::geometric::SBL::MotionRepresentation of a motion
oCompl::geometric::SBL::MotionInfoA struct containing an array of motions and a corresponding PDF element
oCompl::geometric::SBL::TreeDataRepresentation of a search tree. Two instances will be used. One for start and one for goal
oCompl::geometric::SimpleSetupCreate the set of classes typically needed to solve a geometric problem
oCompl::geometric::SimpleSetupPtrA boost shared pointer wrapper for ompl::geometric::SimpleSetup
oCompl::GreedyKCenters< _T >An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other
oCompl::Grid< _T >Representation of a simple grid
oCompl::Grid< _T >::CellDefinition of a cell in this grid
oCompl::Grid< _T >::EqualCoordPtrEquality operator for coordinate pointers
oCompl::Grid< _T >::HashFunCoordPtrHash function for coordinates
oCompl::Grid< _T >::SortComponentsHelper to sort components by size
oCompl::GridB< _T, LessThanExternal, LessThanInternal >::LessThanExternalCellDefine order for external cells
oCompl::GridB< _T, LessThanExternal, LessThanInternal >::LessThanInternalCellDefine order for internal cells
oCompl::msg::OutputHandlerGeneric class to handle output from a piece of code
oCompl::NearestNeighbors< _T >Abstract representation of a container that can perform nearest neighbors queries
oCompl::NearestNeighborsGNAT< _T >::NodeThe class used internally to define the GNAT
oCompl::PDF< _T >A container that supports probabilistic sampling over weighted data
oCompl::PDF< _T >::ElementA class that will hold data contained in the PDF
oCompl::RNGRandom number generation. An instance of this class cannot be used by multiple threads at once (member functions are not const). However, the constructor is thread safe and different instances can be used safely in any number of threads. It is also guaranteed that all created instances will have a different random seed
oCompl::tools::BenchmarkBenchmark a set of planners on a problem instance
oCompl::tools::Benchmark::CompleteExperimentThis structure holds experimental data for a set of planners
oCompl::tools::Benchmark::PlannerExperimentThe data collected after running a planner multiple times
oCompl::tools::Benchmark::RequestRepresentation of a benchmark request
oCompl::tools::Benchmark::StatusThis structure contains information about the activity of a benchmark instance. If the instance is running, it is possible to find out information such as which planner is currently being tested or how much
oCompl::tools::OptimizePlanRun one or more motion planners repeatedly (using a specified number of threads), and hybridize solutions, trying to optimize solutions
oCompl::tools::ParallelPlanThis is a utility that allows executing multiple planners in parallel, until one or more find a solution. Optionally, the results are automatically hybridized using ompl::geometric::PathHybridization. Between calls to solve(), the set of known solutions (maintained by ompl::base::Goal) are not cleared, and neither is the hybridization datastructure
oCompl::tools::ProfilerThis is a simple thread-safe tool for counting time spent in various chunks of code. This is different from external profiling tools in that it allows the user to count time spent in various bits of code (sub-function granularity) or count how many times certain pieces of code are executed
oCompl::tools::Profiler::ScopedBlockThis instance will call Profiler::begin() when constructed and Profiler::end() when it goes out of scope
oCompl::tools::Profiler::ScopedStartThis instance will call Profiler::start() when constructed and Profiler::stop() when it goes out of scope. If the profiler was already started, this block's constructor and destructor take no action
\Compl::tools::SelfConfigThis class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached