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SelfConfig.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_SELF_CONFIG_
38 #define OMPL_TOOLS_SELF_CONFIG_
39 
40 #include "ompl/config.h"
41 #include "ompl/base/SpaceInformation.h"
42 #include "ompl/datastructures/NearestNeighborsSqrtApprox.h"
43 #include "ompl/datastructures/NearestNeighborsGNAT.h"
44 #include <iostream>
45 #include <string>
46 
47 namespace ompl
48 {
50  namespace tools
51  {
52 
56  class SelfConfig
57  {
58  public:
59 
63  SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());
64 
65  ~SelfConfig(void);
66 
68  double getProbabilityOfValidState(void);
69 
71  double getAverageValidMotionLength(void);
72 
76  void configureValidStateSamplingAttempts(unsigned int &attempts);
77 
79  void configurePlannerRange(double &range);
80 
85 
87  void print(std::ostream &out = std::cout) const;
88 
90  template<typename _T>
92  {
93  if (space->isMetricSpace())
94  return new NearestNeighborsGNAT<_T>();
95  else
96  return new NearestNeighborsSqrtApprox<_T>();
97  }
98 
99  private:
100 
102  class SelfConfigImpl;
103 
104  SelfConfigImpl *impl_;
105  std::string context_;
107  };
108  }
109 }
110 
111 #endif
A boost shared pointer wrapper for ompl::base::StateSpace.
Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...
void print(std::ostream &out=std::cout) const
Print the computed configuration parameters.
Definition: SelfConfig.cpp:238
double getAverageValidMotionLength(void)
Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionL...
Definition: SelfConfig.cpp:214
A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...
static NearestNeighbors< _T > * getDefaultNearestNeighbors(const base::StateSpacePtr &space)
Select a default nearest neighbor datastructure for the given space.
Definition: SelfConfig.h:91
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:171
Abstract representation of a container that can perform nearest neighbors queries.
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:232
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:226
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:56
void configureValidStateSamplingAttempts(unsigned int &attempts)
Instances of base::ValidStateSampler need a number of attempts to be specified – the maximum number ...
Definition: SelfConfig.cpp:220
double getProbabilityOfValidState(void)
Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidS...
Definition: SelfConfig.cpp:208