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ConstrainedSpaceInformation.h
116 setValidStateSamplerAllocator([](const SpaceInformation *si) -> std::shared_ptr<ValidStateSampler> {
136 bool success = stateSpace_->as<ConstrainedStateSpace>()->discreteGeodesic(s1, s2, true, &states);
158 TangentBundleSpaceInformation(StateSpacePtr space) : ConstrainedSpaceInformation(std::move(space))
216 bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override
A state in an atlas represented as a real vector in ambient space and a chart that it belongs to.
Definition AtlasStateSpace.h:136
Space information for a constrained state space. Implements more direct for getting motion states.
Definition ConstrainedSpaceInformation.h:110
unsigned int getMotionStates(const State *s1, const State *s2, std::vector< State * > &states, unsigned int, bool endpoints, bool) const override
Get count states that make up a motion between s1 and s2. Returns the number of states that were adde...
Definition ConstrainedSpaceInformation.h:133
ConstrainedSpaceInformation(StateSpacePtr space)
Constructor. Sets the instance of the state space to plan with.
Definition ConstrainedSpaceInformation.h:113
A StateSpace that has a Constraint imposed upon it. Underlying space functions are passed to the ambi...
Definition ConstrainedStateSpace.h:134
void setSpaceInformation(SpaceInformation *si)
Sets the space information for this state space. Required for collision checking in manifold traversa...
Definition ConstrainedStateSpace.cpp:198
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
Definition ConstrainedSpaceInformation.h:87
ConstrainedValidStateSampler(const SpaceInformation *si)
Constructor. Create a valid state sampler for a constrained state space.
Definition ConstrainedSpaceInformation.h:67
bool sample(State *state) override
Sample a state. Return false in case of failure.
Definition ConstrainedSpaceInformation.h:74
A shared pointer wrapper for ompl::base::Constraint.
The base class for space information. This contains all the information about the space planning is d...
Definition SpaceInformation.h:82
StateSpacePtr stateSpace_
The state space planning is to be performed in.
Definition SpaceInformation.h:437
MotionValidatorPtr motionValidator_
The instance of the motion validator to use when determining the validity of motions in the planning ...
Definition SpaceInformation.h:445
void setValidStateSamplerAllocator(const ValidStateSamplerAllocator &vssa)
Set the allocator to use for a valid state sampler. This replaces the default uniform valid state sam...
Definition SpaceInformation.cpp:121
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
unsigned int getMotionStates(const State *s1, const State *s2, std::vector< State * > &states, unsigned int, bool, bool) const override
Get count states that make up a motion between s1 and s2. Returns the number of states that were adde...
Definition ConstrainedSpaceInformation.h:177
TangentBundleSpaceInformation(StateSpacePtr space)
Constructor. Sets the instance of the state space to plan with.
Definition ConstrainedSpaceInformation.h:158
bool checkMotion(const State *s1, const State *s2, std::pair< State *, double > &lastValid) const override
Incrementally check if the path between two motions is valid. Also compute the last state that was va...
Definition ConstrainedSpaceInformation.h:216
ConstrainedStateSpace encapsulating a planner-agnostic lazy atlas algorithm for planning on a constra...
Definition TangentBundleStateSpace.h:81
bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const override
Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...
Definition TangentBundleStateSpace.cpp:72
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
STL namespace.