PlannerSettings::GlobalSettings::OmplSettings Struct Reference

Settings related to OMPL. More...

#include <PlannerSettings.h>

Inheritance diagram for PlannerSettings::GlobalSettings::OmplSettings:

Collaboration diagram for PlannerSettings::GlobalSettings::OmplSettings:

Public Member Functions
	OmplSettings (const char *name, Group *parent=nullptr)
	Custom constructor to expose planner settings and their default values. More...
void	retrieveGeometricPlannerParams ()
	Retrieve available parameters and defaults for geometric planners. More...
void	retrieveControlPlannerParams ()
	Retrieve available parameters and defaults for control planners. More...
void	initializeSampler () const
	Sets the OMPL sampler based on the state space (steering function) and selected sampler. More...

Public Attributes
ompl::base::StateSpacePtr	state_space {nullptr}
ompl::control::ControlSpacePtr	control_space {nullptr}
ompl::base::SpaceInformationPtr	space_info {nullptr}
ompl::control::SpaceInformationPtr	control_space_info {nullptr}
ompl::base::OptimizationObjectivePtr	objective {nullptr}
Stopwatch	steering_timer
Property< double >	state_equality_tolerance
Property< double >	cost_threshold {100, "cost_threshold", this}
Property< unsigned int >	seed {1, "seed", this}
Property< std::string >	sampler {"iid", "sampler", this}
	The sampler used by OMPL. More...
Property< std::string >	optimization_objective
	The optimization objective used by OMPL. More...
Property< nlohmann::json >	geometric_planner_settings
	Planner settings for geometric planners. More...
Property< nlohmann::json >	control_planner_settings
	Planner settings for control planners. More...

Detailed Description

Settings related to OMPL.

Constructor & Destructor Documentation

OmplSettings()

PlannerSettings::GlobalSettings::OmplSettings::OmplSettings	(	const char *	name,
		Group *	parent = nullptr
	)

Custom constructor to expose planner settings and their default values.

Member Function Documentation

initializeSampler()

void PlannerSettings::GlobalSettings::OmplSettings::initializeSampler

(

)

const

Sets the OMPL sampler based on the state space (steering function) and selected sampler.

retrieveControlPlannerParams()

void PlannerSettings::GlobalSettings::OmplSettings::retrieveControlPlannerParams

(

)

Retrieve available parameters and defaults for control planners.

retrieveGeometricPlannerParams()

void PlannerSettings::GlobalSettings::OmplSettings::retrieveGeometricPlannerParams

(

)

Retrieve available parameters and defaults for geometric planners.

Member Data Documentation

control_planner_settings

Property<nlohmann::json> PlannerSettings::GlobalSettings::OmplSettings::control_planner_settings

Initial value:

{
        {}, "control_planner_settings", this}

Planner settings for control planners.

Geometric and control planners are split since planner names are not unique across these two namespaces.

Keys are planners names, values are key:value pairs of planner parameters. Populated with default params in constructor.

control_space

ompl::control::ControlSpacePtr PlannerSettings::GlobalSettings::OmplSettings::control_space {nullptr}

control_space_info

ompl::control::SpaceInformationPtr PlannerSettings::GlobalSettings::OmplSettings::control_space_info {nullptr}

cost_threshold

Property<double> PlannerSettings::GlobalSettings::OmplSettings::cost_threshold {100, "cost_threshold", this}

geometric_planner_settings

Property<nlohmann::json> PlannerSettings::GlobalSettings::OmplSettings::geometric_planner_settings

Initial value:

{
        {}, "geometric_planner_settings", this}

Planner settings for geometric planners.

Geometric and control planners are split since planner names are not unique across these two namespaces.

Keys are planners names, values are key:value pairs of planner parameters.

objective

ompl::base::OptimizationObjectivePtr PlannerSettings::GlobalSettings::OmplSettings::objective {nullptr}

optimization_objective

Property<std::string> PlannerSettings::GlobalSettings::OmplSettings::optimization_objective

Initial value:

{
        "min_pathlength", "optimization_objective", this}

The optimization objective used by OMPL.

Currently supported: "min_pathlength", "max_minclearance", "max_smoothness", "min_curvature"

sampler

Property<std::string> PlannerSettings::GlobalSettings::OmplSettings::sampler {"iid", "sampler", this}

The sampler used by OMPL.

Currently supported: "iid", "halton"

seed

Property<unsigned int> PlannerSettings::GlobalSettings::OmplSettings::seed {1, "seed", this}

space_info

ompl::base::SpaceInformationPtr PlannerSettings::GlobalSettings::OmplSettings::space_info {nullptr}

state_equality_tolerance

Property<double> PlannerSettings::GlobalSettings::OmplSettings::state_equality_tolerance

Initial value:

{1e-4, "state_equality_tolerance",
                                              this}

state_space

ompl::base::StateSpacePtr PlannerSettings::GlobalSettings::OmplSettings::state_space {nullptr}

steering_timer

Stopwatch PlannerSettings::GlobalSettings::OmplSettings::steering_timer

---

The documentation for this struct was generated from the following files:

• src/base/PlannerSettings.h
• src/base/src/PlannerSettings.cpp