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BundleSpace.cpp
145 OptimizationObjectivePtr lengthObj = std::make_shared<base::PathLengthOptimizationObjective>(getBundle());
160 base::GoalSampleableRegion *goal = static_cast<base::GoalSampleableRegion *>(pdef_->getGoal().get());
A space to allow the composition of state spaces.
Definition StateSpace.h:574
const std::vector< StateSpacePtr > & getSubspaces() const
Get the list of components.
Definition StateSpace.cpp:978
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
Abstract definition of a goal region that can be sampled.
Definition GoalSampleableRegion.h:48
A shared pointer wrapper for ompl::base::OptimizationObjective.
A shared pointer wrapper for ompl::base::Path.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition PlannerTerminationCondition.h:64
virtual void clear()
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition Planner.cpp:118
virtual void setup()
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition Planner.cpp:92
virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef)
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition Planner.cpp:81
A shared pointer wrapper for ompl::base::ProblemDefinition.
The definition of a state in SO(3) represented as a unit quaternion.
Definition SO3StateSpace.h:91
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::control::SpaceInformation.
static unsigned int counter_
Internal counter to track multiple bundle spaces.
Definition BundleSpace.h:255
void lift(const ompl::base::State *xBase, ompl::base::State *xBundle) const
Lift a state from Base to Bundle.
Definition BundleSpace.cpp:459
virtual void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition BundleSpace.cpp:164
ProjectionPtr getProjection() const
Get ProjectionPtr from Bundle to Base.
Definition BundleSpace.cpp:226
virtual void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition BundleSpace.cpp:134
virtual bool isInfeasible()
Check if any infeasibility guarantees are fulfilled.
Definition BundleSpace.cpp:369
void setProjection(ProjectionPtr projection)
Set explicit projection (so that we do not need to guess.
Definition BundleSpace.cpp:216
unsigned int getCoDimension() const
Dimension of Bundle Space - Dimension of Base Space.
Definition BundleSpace.cpp:346
void setParent(BundleSpace *parent)
Pointer to k+1 th bundle space (locally the total space)
Definition BundleSpace.cpp:404
unsigned int id_
Identity of space (to keep track of number of Bundle-spaces created)
Definition BundleSpace.h:258
virtual bool getSolution(ompl::base::PathPtr &solution)=0
Return best solution.
BundleSpace(const ompl::base::SpaceInformationPtr &si, BundleSpace *baseSpace_=nullptr)
Bundle Space contains three primary characters, the bundle space, the base space and the projection.
Definition BundleSpace.cpp:60
BundleSpace * getChild() const
Return k-1 th bundle space (locally the base space)
Definition BundleSpace.cpp:389
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.
Definition BundleSpace.cpp:323
bool makeProjection()
Given bundle space and base space, try to guess the right.
Definition BundleSpace.cpp:101
ompl::base::State * allocIdentityStateBundle() const
Allocate State, set entries to Identity/Zero.
Definition BundleSpace.cpp:313
friend std::ostream & operator<<(std::ostream &, const BundleSpace &)
Write class to stream (use as std::cout << *this << std::endl)
Definition BundleSpace.cpp:478
BundleSpace * getParent() const
Return k+1 th bundle space (locally the total space)
Definition BundleSpace.cpp:399
virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override
Set the problem definition for the planner. The problem needs to be set before calling solve()....
Definition BundleSpace.cpp:206
virtual bool hasConverged()
Check if the current space can still be sampled.
Definition BundleSpace.cpp:374
virtual void print(std::ostream &out) const
Internal function implementing actual printing to stream.
Definition BundleSpace.cpp:469
bool firstRun_
Variable to check if this bundle space planner has been run at.
Definition BundleSpace.h:265
void setChild(BundleSpace *child)
Pointer to k-1 th bundle space (locally the base space)
Definition BundleSpace.cpp:394
void checkBundleSpaceMeasure(std::string name, const ompl::base::StateSpacePtr space) const
Check if Bundle-space is bounded.
Definition BundleSpace.cpp:190
const ompl::base::SpaceInformationPtr & getBase() const
Get SpaceInformationPtr for Base.
Definition BundleSpace.cpp:328
void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
Bundle Space Projection Operator onto first component ProjectBase: Bundle \rightarrow Base.
Definition BundleSpace.cpp:464
ProjectionPtr makeProjection(const base::SpaceInformationPtr &Bundle, const base::SpaceInformationPtr &Base)
Guess projection(s) between two SpaceInformationPtr Bundle and Base.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
static const unsigned int FIND_VALID_STATE_ATTEMPTS_WITHOUT_TERMINATION_CHECK
Maximum number of sampling attempts to find a valid state, without checking whether the allowed time ...
Definition MagicConstants.h:95
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49