void ompl::control::SpaceInformation::setup()
{
base::SpaceInformation::setup();
if (!statePropagator_)
throw Exception("State propagator not defined");
if (minSteps_ > maxSteps_)
throw Exception("The minimum number of steps cannot be larger than the maximum number of steps");
if (minSteps_ == 0 && maxSteps_ == 0)
{
minSteps_ = 1;
maxSteps_ = 10;
OMPL_WARN("Assuming propagation will always have between %d and %d steps", minSteps_, maxSteps_);
}
if (minSteps_ < 1)
throw Exception("The minimum number of steps must be at least 1");
if (stepSize_ < std::numeric_limits<double>::epsilon())
{
stepSize_ = getStateValidityCheckingResolution() * getMaximumExtent();
if (stepSize_ < std::numeric_limits<double>::epsilon())
throw Exception("The propagation step size must be larger than 0");
OMPL_WARN("The propagation step size is assumed to be %f", stepSize_);
}
controlSpace_->setup();
if (controlSpace_->getDimension() <= 0)
throw Exception("The dimension of the control space we plan in must be > 0");
}
void ompl::base::SpaceInformation::printSettings(std::ostream &out) const
{
out << "Settings for the state space '" << stateSpace_->getName() << "'" << std::endl;
out << " - state validity check resolution: " << (getStateValidityCheckingResolution() * 100.0) << '%' << std::endl;
out << " - valid segment count factor: " << stateSpace_->getValidSegmentCountFactor() << std::endl;
out << " - state space:" << std::endl;
stateSpace_->printSettings(out);
out << std::endl << "Declared parameters:" << std::endl;
params_.print(out);
ValidStateSamplerPtr vss = allocValidStateSampler();
out << "Valid state sampler named " << vss->getName() << " with parameters:" << std::endl;
vss->params().print(out);
}
