C++ (Cpp) SpaceInformationPtr Beispiele

Beispiel #1

Datei: OpenDEStateValidityChecker.cpp Projekt: davetcoleman/ompl

ompl::control::OpenDEStateValidityChecker::OpenDEStateValidityChecker(const SpaceInformationPtr &si)
  : base::StateValidityChecker(si)
{
    if (!dynamic_cast<OpenDEStateSpace *>(si->getStateSpace().get()))
        throw Exception("Cannot create state validity checking for OpenDE without OpenDE state space");
    osm_ = si->getStateSpace()->as<OpenDEStateSpace>();
}

Beispiel #2

Datei: SimpleSetup.cpp Projekt: arjungm/ompl

ompl::base::PlannerPtr ompl::control::getDefaultPlanner(const base::GoalPtr &goal)
{
    base::PlannerPtr planner;
    if (!goal)
        throw Exception("Unable to allocate default planner for unspecified goal definition");

    SpaceInformationPtr si = boost::static_pointer_cast<SpaceInformation, base::SpaceInformation>(goal->getSpaceInformation());
    if (si->getStateSpace()->hasDefaultProjection())
        planner = base::PlannerPtr(new KPIECE1(si));
    else
        planner = base::PlannerPtr(new RRT(si));

    return planner;
}

Beispiel #3

Datei: OpenDEStatePropagator.cpp Projekt: giogadi/ompl

ompl::control::OpenDEStatePropagator::OpenDEStatePropagator(const SpaceInformationPtr &si) : StatePropagator(si)
{
    if (OpenDEStateSpace *oss = dynamic_cast<OpenDEStateSpace*>(si->getStateSpace().get()))
        env_ = oss->getEnvironment();
    else
        throw Exception("OpenDE State Space needed for OpenDEStatePropagator");
}

Beispiel #4

Datei: RRT.cpp Projekt: jvgomez/ompl

ompl::control::RRT::RRT(const SpaceInformationPtr &si) : base::Planner(si, "RRT")
{
    specs_.approximateSolutions = true;
    siC_ = si.get();

    Planner::declareParam<double>("goal_bias", this, &RRT::setGoalBias, &RRT::getGoalBias, "0.:.05:1.");
    Planner::declareParam<bool>("intermediate_states", this, &RRT::setIntermediateStates, &RRT::getIntermediateStates);
}

Beispiel #5

Datei: EST.cpp Projekt: ompl/ompl

ompl::control::EST::EST(const SpaceInformationPtr &si) : base::Planner(si, "EST")
{
    specs_.approximateSolutions = true;
    siC_ = si.get();

    Planner::declareParam<double>("range", this, &EST::setRange, &EST::getRange, "0.:1.:10000.");
    Planner::declareParam<double>("goal_bias", this, &EST::setGoalBias, &EST::getGoalBias, "0.:.05:1.");
}

Beispiel #6

Datei: SST.cpp Projekt: HRZaheri/batch-informed-trees

ompl::control::SST::SST(const SpaceInformationPtr &si) : base::Planner(si, "SST")
{
    specs_.approximateSolutions = true;
    siC_ = si.get();
    prevSolution_.clear();
    prevSolutionControls_.clear();
    prevSolutionSteps_.clear();

    goalBias_ = 0.05;
    selectionRadius_ = 0.2;
    pruningRadius_ = 0.1;

    Planner::declareParam<double>("goal_bias", this, &SST::setGoalBias, &SST::getGoalBias, "0.:.05:1.");
    Planner::declareParam<double>("selection_radius", this, &SST::setSelectionRadius, &SST::getSelectionRadius, "0.:.1:100");
    Planner::declareParam<double>("pruning_radius", this, &SST::setPruningRadius, &SST::getPruningRadius, "0.:.1:100");
}

Beispiel #7

Datei: KPIECE1.cpp Projekt: megan-starr9/UAV_Aiolos

ompl::control::KPIECE1::KPIECE1(const SpaceInformationPtr &si) : base::Planner(si, "KPIECE1")
{
    specs_.approximateSolutions = true;

    siC_ = si.get();
    nCloseSamples_ = 30;
    goalBias_ = 0.05;
    selectBorderFraction_ = 0.8;
    badScoreFactor_ = 0.45;
    goodScoreFactor_ = 0.9;
    tree_.grid.onCellUpdate(computeImportance, NULL);

    Planner::declareParam<double>("goal_bias", this, &KPIECE1::setGoalBias, &KPIECE1::getGoalBias);
    Planner::declareParam<double>("border_fraction", this, &KPIECE1::setBorderFraction, &KPIECE1::getBorderFraction);
    Planner::declareParam<unsigned int>("max_close_samples", this, &KPIECE1::setMaxCloseSamplesCount, &KPIECE1::getMaxCloseSamplesCount);
    Planner::declareParam<double>("bad_score_factor", this, &KPIECE1::setBadCellScoreFactor, &KPIECE1::getBadCellScoreFactor);
    Planner::declareParam<double>("good_score_factor", this, &KPIECE1::setGoodCellScoreFactor, &KPIECE1::getGoodCellScoreFactor);
}

Beispiel #8

Datei: pid_ctrl.cpp Projekt: Copilot-Language/copilot-discussion

ompl::control::PID::PID(const SpaceInformationPtr &si) : base::Planner(si, "PID")
{
	specs_.approximateSolutions = true;
	siC_ = si.get();
}

Beispiel #9

Datei: PDST.cpp Projekt: jvgomez/ompl

ompl::control::PDST::PDST(const SpaceInformationPtr &si)
  : base::Planner(si, "PDST")
  , siC_(si.get())
{
    Planner::declareParam<double>("goal_bias", this, &PDST::setGoalBias, &PDST::getGoalBias, "0.:.05:1.");
}