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ConstrainedProblem Class Reference

Public Member Functions

 ConstrainedProblem (enum SPACE_TYPE type, ob::StateSpacePtr space_, ob::ConstraintPtr constraint_)
 
void setConstrainedOptions (struct ConstrainedOptions &opt)
 
void setAtlasOptions (struct AtlasOptions &opt)
 
void setStartAndGoalStates (const Eigen::Ref< const Eigen::VectorXd > &start, const Eigen::Ref< const Eigen::VectorXd > &goal)
 
template<typename _T>
std::shared_ptr< _T > createPlanner ()
 
template<typename _T>
std::shared_ptr< _T > createPlannerIntermediate ()
 
template<typename _T>
std::shared_ptr< _T > createPlannerRange ()
 
template<typename _T>
std::shared_ptr< _T > createPlannerRange (bool)
 
template<typename _T>
std::shared_ptr< _T > createPlannerRangeProj (const std::string &projection)
 
ob::PlannerPtr getPlanner (enum PLANNER_TYPE planner, const std::string &projection="")
 
void setPlanner (enum PLANNER_TYPE planner, const std::string &projection="")
 
ob::PlannerStatus solveOnce (bool output=false, const std::string &name="ompl")
 
void setupBenchmark (std::vector< enum PLANNER_TYPE > &planners, const std::string &problem)
 
void runBenchmark ()
 
void atlasStats ()
 
void dumpGraph (const std::string &name)
 

Public Attributes

enum SPACE_TYPE type
 
ob::StateSpacePtr space
 
ob::ConstraintPtr constraint
 
ob::ConstrainedStateSpacePtr css
 
ob::ConstrainedSpaceInformationPtr csi
 
ob::PlannerPtr pp
 
og::SimpleSetupPtr ss
 
struct ConstrainedOptions c_opt
 
struct AtlasOptions a_opt
 
ot::Benchmarkbench
 
ot::Benchmark::Request request
 

Detailed Description

Definition at line 254 of file ConstrainedPlanningCommon.h.

Constructor & Destructor Documentation

◆ ConstrainedProblem()

ConstrainedProblem::ConstrainedProblem ( enum SPACE_TYPE type,
ob::StateSpacePtr space_,
ob::ConstraintPtr constraint_ )
inline

Definition at line 257 of file ConstrainedPlanningCommon.h.

Member Function Documentation

◆ atlasStats()

void ConstrainedProblem::atlasStats ( )
inline

Definition at line 552 of file ConstrainedPlanningCommon.h.

◆ createPlanner()

template<typename _T>
std::shared_ptr< _T > ConstrainedProblem::createPlanner ( )
inline

Definition at line 347 of file ConstrainedPlanningCommon.h.

◆ createPlannerIntermediate()

template<typename _T>
std::shared_ptr< _T > ConstrainedProblem::createPlannerIntermediate ( )
inline

Definition at line 354 of file ConstrainedPlanningCommon.h.

◆ createPlannerRange() [1/2]

template<typename _T>
std::shared_ptr< _T > ConstrainedProblem::createPlannerRange ( )
inline

Definition at line 361 of file ConstrainedPlanningCommon.h.

◆ createPlannerRange() [2/2]

template<typename _T>
std::shared_ptr< _T > ConstrainedProblem::createPlannerRange ( bool )
inline

Definition at line 377 of file ConstrainedPlanningCommon.h.

◆ createPlannerRangeProj()

template<typename _T>
std::shared_ptr< _T > ConstrainedProblem::createPlannerRangeProj ( const std::string & projection)
inline

Definition at line 393 of file ConstrainedPlanningCommon.h.

◆ dumpGraph()

void ConstrainedProblem::dumpGraph ( const std::string & name)
inline

Definition at line 564 of file ConstrainedPlanningCommon.h.

◆ getPlanner()

ob::PlannerPtr ConstrainedProblem::getPlanner ( enum PLANNER_TYPE planner,
const std::string & projection = "" )
inline

Definition at line 404 of file ConstrainedPlanningCommon.h.

◆ runBenchmark()

void ConstrainedProblem::runBenchmark ( )
inline

Definition at line 541 of file ConstrainedPlanningCommon.h.

◆ setAtlasOptions()

void ConstrainedProblem::setAtlasOptions ( struct AtlasOptions & opt)
inline

Definition at line 296 of file ConstrainedPlanningCommon.h.

◆ setConstrainedOptions()

void ConstrainedProblem::setConstrainedOptions ( struct ConstrainedOptions & opt)
inline

Definition at line 285 of file ConstrainedPlanningCommon.h.

◆ setPlanner()

void ConstrainedProblem::setPlanner ( enum PLANNER_TYPE planner,
const std::string & projection = "" )
inline

Definition at line 452 of file ConstrainedPlanningCommon.h.

◆ setStartAndGoalStates()

void ConstrainedProblem::setStartAndGoalStates ( const Eigen::Ref< const Eigen::VectorXd > & start,
const Eigen::Ref< const Eigen::VectorXd > & goal )
inline

Definition at line 321 of file ConstrainedPlanningCommon.h.

◆ setupBenchmark()

void ConstrainedProblem::setupBenchmark ( std::vector< enum PLANNER_TYPE > & planners,
const std::string & problem )
inline

Definition at line 517 of file ConstrainedPlanningCommon.h.

◆ solveOnce()

ob::PlannerStatus ConstrainedProblem::solveOnce ( bool output = false,
const std::string & name = "ompl" )
inline

Definition at line 458 of file ConstrainedPlanningCommon.h.

Member Data Documentation

◆ a_opt

struct AtlasOptions ConstrainedProblem::a_opt

Definition at line 596 of file ConstrainedPlanningCommon.h.

◆ bench

ot::Benchmark* ConstrainedProblem::bench

Definition at line 598 of file ConstrainedPlanningCommon.h.

◆ c_opt

struct ConstrainedOptions ConstrainedProblem::c_opt

Definition at line 595 of file ConstrainedPlanningCommon.h.

◆ constraint

ob::ConstraintPtr ConstrainedProblem::constraint

Definition at line 586 of file ConstrainedPlanningCommon.h.

◆ csi

ob::ConstrainedSpaceInformationPtr ConstrainedProblem::csi

Definition at line 589 of file ConstrainedPlanningCommon.h.

◆ css

ob::ConstrainedStateSpacePtr ConstrainedProblem::css

Definition at line 588 of file ConstrainedPlanningCommon.h.

◆ pp

ob::PlannerPtr ConstrainedProblem::pp

Definition at line 591 of file ConstrainedPlanningCommon.h.

◆ request

ot::Benchmark::Request ConstrainedProblem::request

Definition at line 599 of file ConstrainedPlanningCommon.h.

◆ space

ob::StateSpacePtr ConstrainedProblem::space

Definition at line 585 of file ConstrainedPlanningCommon.h.

◆ ss

og::SimpleSetupPtr ConstrainedProblem::ss

Definition at line 593 of file ConstrainedPlanningCommon.h.

◆ type

enum SPACE_TYPE ConstrainedProblem::type

Definition at line 583 of file ConstrainedPlanningCommon.h.


The documentation for this class was generated from the following file: