SimpleSetup.cpp
91 // we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner termination condition
106 ompl::base::PlannerStatus ompl::control::SimpleSetup::solve(const base::PlannerTerminationCondition &ptc)
133 return haveSolutionPath() && (!pdef_->hasApproximateSolution() || pdef_->getSolutionDifference() < std::numeric_limits<double>::epsilon());
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Definition: SimpleSetup.cpp:131
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
Definition: SimpleSetup.cpp:45
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SimpleSetup.cpp:40
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
Definition: SimpleSetup.h:139
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:92
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:59
A boost shared pointer wrapper for ompl::control::ControlSpace.
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:62
A boost shared pointer wrapper for ompl::base::Planner.
PathControl & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition: SimpleSetup.cpp:120
const base::GoalPtr & getGoal() const
Get the current goal definition.
Definition: SimpleSetup.h:117
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
Definition: SimpleSetup.cpp:143
base::PlannerStatus last_status_
The status of the last planning request.
Definition: SimpleSetup.h:293
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
Definition: SimpleSetup.cpp:136
A boost shared pointer wrapper for ompl::control::SpaceInformation.
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SelfConfig.cpp:250
Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...
Definition: ProblemDefinition.h:150
A boost shared pointer wrapper for ompl::base::Goal.
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:287
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
Definition: SimpleSetup.cpp:83
A boost shared pointer wrapper for ompl::base::Path.