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<li class="navelem"><b>demos</b></li><li class="navelem"><b>constraint</b></li> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2018, Rice University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Zachary Kingston */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#ifndef OMPL_DEMO_CONSTRAINED_COMMON_</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#define OMPL_DEMO_CONSTRAINED_COMMON_</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <iostream></span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <fstream></span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <boost/format.hpp></span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include <boost/program_options.hpp></span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <ompl/geometric/SimpleSetup.h></span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#include <ompl/geometric/PathGeometric.h></span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="preprocessor">#include <ompl/base/Constraint.h></span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="preprocessor">#include <ompl/base/ConstrainedSpaceInformation.h></span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="preprocessor">#include <ompl/base/spaces/constraint/ConstrainedStateSpace.h></span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="preprocessor">#include <ompl/base/spaces/constraint/AtlasStateSpace.h></span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="preprocessor">#include <ompl/base/spaces/constraint/TangentBundleStateSpace.h></span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="preprocessor">#include <ompl/base/spaces/constraint/ProjectedStateSpace.h></span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span><span class="preprocessor">#include <ompl/geometric/planners/rrt/RRT.h></span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="preprocessor">#include <ompl/geometric/planners/rrt/RRTConnect.h></span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="preprocessor">#include <ompl/geometric/planners/rrt/RRTstar.h></span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="preprocessor">#include <ompl/geometric/planners/est/EST.h></span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span><span class="preprocessor">#include <ompl/geometric/planners/est/BiEST.h></span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="preprocessor">#include <ompl/geometric/planners/est/ProjEST.h></span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span><span class="preprocessor">#include <ompl/geometric/planners/informedtrees/BITstar.h></span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="preprocessor">#include <ompl/geometric/planners/prm/PRM.h></span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span><span class="preprocessor">#include <ompl/geometric/planners/prm/SPARS.h></span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span><span class="preprocessor">#include <ompl/geometric/planners/prm/SPARStwo.h></span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="preprocessor">#include <ompl/geometric/planners/kpiece/KPIECE1.h></span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="preprocessor">#include <ompl/geometric/planners/kpiece/BKPIECE1.h></span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span><span class="preprocessor">#include <ompl/tools/benchmark/Benchmark.h></span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span><span class="keyword">namespace </span>po = boost::program_options;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1base.html">ob</a> = <a class="code hl_namespace" href="namespaceompl_1_1base.html">ompl::base</a>;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1geometric.html">og</a> = <a class="code hl_namespace" href="namespaceompl_1_1geometric.html">ompl::geometric</a>;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1magic.html">om</a> = <a class="code hl_namespace" href="namespaceompl_1_1magic.html">ompl::magic</a>;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1tools.html">ot</a> = <a class="code hl_namespace" href="namespaceompl_1_1tools.html">ompl::tools</a>;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span><span class="keyword">enum</span> SPACE_TYPE</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span>{</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> PJ = 0,</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> AT = 1,</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> TB = 2</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span>};</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span><span class="keyword">const</span> std::string spaceStr[3] = {<span class="stringliteral">"PJ"</span>, <span class="stringliteral">"AT"</span>, <span class="stringliteral">"TB"</span>};</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span>std::istream &operator>>(std::istream &in, <span class="keyword">enum</span> SPACE_TYPE &type)</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span>{</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> std::string token;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> in >> token;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"PJ"</span>)</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> type = PJ;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"AT"</span>)</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> type = AT;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"TB"</span>)</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> type = TB;</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> in.setstate(std::ios_base::failbit);</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordflow">return</span> in;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span>}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span><span class="keywordtype">void</span> addSpaceOption(po::options_description &desc, <span class="keyword">enum</span> SPACE_TYPE *space)</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span>{</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keyword">auto</span> space_msg = <span class="stringliteral">"Choose which constraint handling methodology to use. One of:\n"</span></div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="stringliteral">"PJ - Projection (Default), "</span></div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="stringliteral">"AT - Atlas, "</span></div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="stringliteral">"TB - Tangent Bundle."</span>;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> desc.add_options()(<span class="stringliteral">"space,s"</span>, po::value<enum SPACE_TYPE>(space), space_msg);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span>}</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span><span class="keyword">enum</span> PLANNER_TYPE</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span>{</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> RRT,</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> RRT_I,</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> RRTConnect,</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> RRTConnect_I,</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> RRTstar,</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> EST,</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> BiEST,</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> ProjEST,</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> BITstar,</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> PRM,</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> SPARS,</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> KPIECE,</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> BKPIECE</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span>};</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span>std::istream &operator>>(std::istream &in, <span class="keyword">enum</span> PLANNER_TYPE &type)</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span>{</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> std::string token;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> in >> token;</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"RRT"</span>)</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> type = RRT;</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"RRT_I"</span>)</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> type = RRT_I;</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"RRTConnect"</span>)</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> type = RRTConnect;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"RRTConnect_I"</span>)</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> type = RRTConnect_I;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"RRTstar"</span>)</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> type = RRTstar;</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"EST"</span>)</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> type = EST;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"BiEST"</span>)</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> type = BiEST;</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"ProjEST"</span>)</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> type = ProjEST;</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"BITstar"</span>)</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> type = BITstar;</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"PRM"</span>)</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> type = PRM;</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"SPARS"</span>)</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> type = SPARS;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"KPIECE"</span>)</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> type = KPIECE;</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (token == <span class="stringliteral">"BKPIECE"</span>)</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> type = BKPIECE;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> in.setstate(std::ios_base::failbit);</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordflow">return</span> in;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span>}</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> </div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span><span class="keywordtype">void</span> addPlannerOption(po::options_description &desc, std::vector<enum PLANNER_TYPE> *planners)</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span>{</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">auto</span> planner_msg = <span class="stringliteral">"List of which motion planner to use (multiple if benchmarking, one if planning). Choose from:\n"</span></div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="stringliteral">"RRT (Default), RRT_I, RRTConnect, RRTConnect_I, RRTstar, "</span></div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="stringliteral">"EST, BiEST, ProjEST, "</span></div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="stringliteral">"BITstar, "</span></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="stringliteral">"PRM, SPARS, "</span></div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="stringliteral">"KPIECE, BKPIECE."</span>;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> desc.add_options()(<span class="stringliteral">"planner,p"</span>, po::value<std::vector<enum PLANNER_TYPE>>(planners)->multitoken(), planner_msg);</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span>}</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> </div>
<div class="foldopen" id="foldopen00177" data-start="{" data-end="};">
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="structConstrainedOptions.html"> 177</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structConstrainedOptions.html">ConstrainedOptions</a></div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span>{</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">double</span> delta;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">double</span> lambda;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">double</span> tolerance;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">double</span> time;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tries;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keywordtype">double</span> range;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span>};</div>
</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span><span class="keywordtype">void</span> addConstrainedOptions(po::options_description &desc, <span class="keyword">struct</span> <a class="code hl_struct" href="structConstrainedOptions.html">ConstrainedOptions</a> *options)</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span>{</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keyword">auto</span> delta_msg = <span class="stringliteral">"Step-size for discrete geodesic on manifold."</span>;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keyword">auto</span> lambda_msg = <span class="stringliteral">"Maximum `wandering` allowed during traversal. Must be greater than 1."</span>;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">auto</span> tolerance_msg = <span class="stringliteral">"Constraint satisfaction tolerance."</span>;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keyword">auto</span> time_msg = <span class="stringliteral">"Planning time allowed."</span>;</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keyword">auto</span> tries_msg = <span class="stringliteral">"Maximum number sample tries per sample."</span>;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keyword">auto</span> range_msg = <span class="stringliteral">"Planner `range` value for planners that support this parameter. Automatically determined "</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="stringliteral">"otherwise (when 0)."</span>;</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> </div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> desc.add_options()(<span class="stringliteral">"delta,d"</span>, po::value<double>(&options->delta)->default_value(om::CONSTRAINED_STATE_SPACE_DELTA),</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> delta_msg);</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> desc.add_options()(<span class="stringliteral">"lambda"</span>, po::value<double>(&options->lambda)->default_value(om::CONSTRAINED_STATE_SPACE_LAMBDA),</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> lambda_msg);</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> desc.add_options()(<span class="stringliteral">"tolerance"</span>,</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> po::value<double>(&options->tolerance)->default_value(<a class="code hl_variable" href="namespaceompl_1_1magic.html#acf7675c13db11a313003955552b8708c">om::CONSTRAINT_PROJECTION_TOLERANCE</a>),</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> tolerance_msg);</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> desc.add_options()(<span class="stringliteral">"time"</span>, po::value<double>(&options->time)->default_value(5.), time_msg);</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> desc.add_options()(</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="stringliteral">"tries"</span>, po::value<unsigned int>(&options->tries)->default_value(<a class="code hl_variable" href="namespaceompl_1_1magic.html#ae5ab55799bfff2e34d89258bfb0a7536">om::CONSTRAINT_PROJECTION_MAX_ITERATIONS</a>),</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> tries_msg);</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> desc.add_options()(<span class="stringliteral">"range,r"</span>, po::value<double>(&options->range)->default_value(0), range_msg);</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span>}</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
<div class="foldopen" id="foldopen00211" data-start="{" data-end="};">
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="structAtlasOptions.html"> 211</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structAtlasOptions.html">AtlasOptions</a></div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span>{</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">double</span> epsilon;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordtype">double</span> rho;</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordtype">double</span> exploration;</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">double</span> alpha;</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">bool</span> bias;</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">bool</span> separate;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> charts;</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span>};</div>
</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span><span class="keywordtype">void</span> addAtlasOptions(po::options_description &desc, <span class="keyword">struct</span> <a class="code hl_struct" href="structAtlasOptions.html">AtlasOptions</a> *options)</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span>{</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keyword">auto</span> epsilon_msg = <span class="stringliteral">"Maximum distance from an atlas chart to the manifold. Must be positive."</span>;</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keyword">auto</span> rho_msg = <span class="stringliteral">"Maximum radius for an atlas chart. Must be positive."</span>;</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">auto</span> exploration_msg = <span class="stringliteral">"Value in [0, 1] which tunes balance of refinement and exploration in "</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="stringliteral">"atlas sampling."</span>;</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keyword">auto</span> alpha_msg = <span class="stringliteral">"Maximum angle between an atlas chart and the manifold. Must be in [0, PI/2]."</span>;</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">auto</span> bias_msg = <span class="stringliteral">"Sets whether the atlas should use frontier-biased chart sampling rather than "</span></div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="stringliteral">"uniform."</span>;</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keyword">auto</span> separate_msg = <span class="stringliteral">"Sets that the atlas should not compute chart separating halfspaces."</span>;</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keyword">auto</span> charts_msg = <span class="stringliteral">"Maximum number of atlas charts that can be generated during one manifold "</span></div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="stringliteral">"traversal."</span>;</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> </div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> desc.add_options()(<span class="stringliteral">"epsilon"</span>, po::value<double>(&options->epsilon)->default_value(om::ATLAS_STATE_SPACE_EPSILON),</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> epsilon_msg);</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> desc.add_options()(<span class="stringliteral">"rho"</span>,</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> po::value<double>(&options->rho)</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> ->default_value(om::CONSTRAINED_STATE_SPACE_DELTA * om::ATLAS_STATE_SPACE_RHO_MULTIPLIER),</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> rho_msg);</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> desc.add_options()(<span class="stringliteral">"exploration"</span>,</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> po::value<double>(&options->exploration)->default_value(om::ATLAS_STATE_SPACE_EXPLORATION),</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> exploration_msg);</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> desc.add_options()(<span class="stringliteral">"alpha"</span>, po::value<double>(&options->alpha)->default_value(om::ATLAS_STATE_SPACE_ALPHA),</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> alpha_msg);</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> desc.add_options()(<span class="stringliteral">"bias"</span>, po::bool_switch(&options->bias)->default_value(<span class="keyword">false</span>), bias_msg);</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> desc.add_options()(<span class="stringliteral">"no-separate"</span>, po::bool_switch(&options->separate)->default_value(<span class="keyword">false</span>), separate_msg);</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> desc.add_options()(</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="stringliteral">"charts"</span>,</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> po::value<unsigned int>(&options->charts)->default_value(om::ATLAS_STATE_SPACE_MAX_CHARTS_PER_EXTENSION),</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> charts_msg);</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span>}</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> </div>
<div class="foldopen" id="foldopen00254" data-start="{" data-end="};">
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"><a class="line" href="classConstrainedProblem.html"> 254</a></span><span class="keyword">class </span>ConstrainedProblem</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span>{</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> ConstrainedProblem(<span class="keyword">enum</span> SPACE_TYPE type, ob::StateSpacePtr space_, ob::ConstraintPtr constraint_)</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> : type(type), space(std::move(space_)), constraint(std::move(constraint_))</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> {</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="comment">// Combine the ambient state space and the constraint to create the</span></div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="comment">// constrained state space.</span></div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordflow">switch</span> (type)</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> {</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordflow">case</span> PJ:</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Using Projection-Based State Space!"</span>);</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> css = std::make_shared<ob::ProjectedStateSpace>(space, constraint);</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> csi = std::make_shared<ob::ConstrainedSpaceInformation>(css);</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keywordflow">case</span> AT:</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Using Atlas-Based State Space!"</span>);</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> css = std::make_shared<ob::AtlasStateSpace>(space, constraint);</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> csi = std::make_shared<ob::ConstrainedSpaceInformation>(css);</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordflow">case</span> TB:</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Using Tangent Bundle-Based State Space!"</span>);</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> css = std::make_shared<ob::TangentBundleStateSpace>(space, constraint);</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> csi = std::make_shared<ob::TangentBundleSpaceInformation>(css);</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> }</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> </div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> css->setup();</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> ss = std::make_shared<og::SimpleSetup>(csi);</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> }</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> </div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keywordtype">void</span> setConstrainedOptions(<span class="keyword">struct</span> <a class="code hl_struct" href="structConstrainedOptions.html">ConstrainedOptions</a> &opt)</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> {</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> c_opt = opt;</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> </div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> constraint->setTolerance(opt.tolerance);</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> constraint->setMaxIterations(opt.tries);</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> </div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> css->setDelta(opt.delta);</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> css->setLambda(opt.lambda);</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> }</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <span class="keywordtype">void</span> setAtlasOptions(<span class="keyword">struct</span> <a class="code hl_struct" href="structAtlasOptions.html">AtlasOptions</a> &opt)</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> {</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> a_opt = opt;</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> </div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keywordflow">if</span> (!(type == AT || type == TB))</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> </div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keyword">auto</span> &&atlas = css->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">ob::AtlasStateSpace</a>>();</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> atlas-><a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a931df43dd9ce03ea021140b93229ccd5">setExploration</a>(opt.exploration);</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> atlas->setEpsilon(opt.epsilon);</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> atlas->setRho(opt.rho);</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> atlas->setAlpha(opt.alpha);</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> atlas->setMaxChartsPerExtension(opt.charts);</div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> </div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keywordflow">if</span> (opt.bias)</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> atlas->setBiasFunction([atlas](<a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *c) -> <span class="keywordtype">double</span></div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> { <span class="keywordflow">return</span> (atlas->getChartCount() - c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#ac6089735240c86623dcd42b3cdad973e">getNeighborCount</a>()) + 1; });</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordflow">if</span> (type == AT)</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> atlas->setSeparated(!opt.separate);</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> </div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> atlas->setup();</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> }</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> </div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">void</span> setStartAndGoalStates(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &start,</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &goal)</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> {</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="comment">// Create start and goal states (poles of the sphere)</span></div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <a class="code hl_class" href="classompl_1_1base_1_1ScopedState.html">ob::ScopedState<></a> sstart(css);</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <a class="code hl_class" href="classompl_1_1base_1_1ScopedState.html">ob::ScopedState<></a> sgoal(css);</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> </div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> sstart->as<<a class="code hl_class" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ob::ConstrainedStateSpace::StateType</a>>()->copy(start);</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> sgoal->as<<a class="code hl_class" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ob::ConstrainedStateSpace::StateType</a>>()->copy(goal);</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> </div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordflow">switch</span> (type)</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> {</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordflow">case</span> AT:</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordflow">case</span> TB:</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> css->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">ob::AtlasStateSpace</a>>()->anchorChart(sstart.<a class="code hl_function" href="classompl_1_1base_1_1ScopedState.html#aef84ea1a81eaa6a954967ae507fdeed1">get</a>());</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> css->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">ob::AtlasStateSpace</a>>()->anchorChart(sgoal.<a class="code hl_function" href="classompl_1_1base_1_1ScopedState.html#aef84ea1a81eaa6a954967ae507fdeed1">get</a>());</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> }</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> </div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="comment">// Setup problem</span></div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> ss->setStartAndGoalStates(sstart, sgoal);</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> }</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _T></div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> std::shared_ptr<_T> createPlanner()</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> {</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">auto</span> &&planner = std::make_shared<_T>(csi);</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordflow">return</span> std::move(planner);</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> }</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> </div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _T></div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> std::shared_ptr<_T> createPlannerIntermediate()</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> {</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">auto</span> &&planner = std::make_shared<_T>(csi, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keywordflow">return</span> std::move(planner);</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> }</div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> </div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _T></div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> std::shared_ptr<_T> createPlannerRange()</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> {</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keyword">auto</span> &&planner = createPlanner<_T>();</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> </div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keywordflow">if</span> (c_opt.range == 0)</div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> {</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keywordflow">if</span> (type == AT || type == TB)</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> planner->setRange(css->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">ob::AtlasStateSpace</a>>()-><a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a4d2cca457d09a1a8a022bb5a9bdc3d03">getRho_s</a>());</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> }</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> planner->setRange(c_opt.range);</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> </div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keywordflow">return</span> std::move(planner);</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> }</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> </div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _T></div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> std::shared_ptr<_T> createPlannerRange(<span class="keywordtype">bool</span> <span class="comment">/*intermediate*/</span>)</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> {</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keyword">auto</span> &&planner = createPlannerIntermediate<_T>();</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> </div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keywordflow">if</span> (c_opt.range == 0)</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> {</div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="keywordflow">if</span> (type == AT || type == TB)</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> planner->setRange(css->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">ob::AtlasStateSpace</a>>()-><a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a4d2cca457d09a1a8a022bb5a9bdc3d03">getRho_s</a>());</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> }</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> planner->setRange(c_opt.range);</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> </div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keywordflow">return</span> std::move(planner);</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> }</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> </div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _T></div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> std::shared_ptr<_T> createPlannerRangeProj(<span class="keyword">const</span> std::string &projection)</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> {</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> isProj = projection != <span class="stringliteral">""</span>;</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keyword">auto</span> &&planner = createPlannerRange<_T>();</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> </div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordflow">if</span> (isProj)</div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> planner->setProjectionEvaluator(projection);</div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> </div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keywordflow">return</span> std::move(planner);</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> }</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> </div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> ob::PlannerPtr getPlanner(<span class="keyword">enum</span> PLANNER_TYPE planner, <span class="keyword">const</span> std::string &projection = <span class="stringliteral">""</span>)</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> {</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> ob::PlannerPtr p;</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> <span class="keywordflow">switch</span> (planner)</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> {</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keywordflow">case</span> RRT:</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> p = createPlannerRange<og::RRT>();</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="keywordflow">case</span> RRT_I:</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> p = createPlannerRange<og::RRT>(<span class="keyword">true</span>);</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="keywordflow">case</span> RRTConnect:</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> p = createPlannerRange<og::RRTConnect>();</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> <span class="keywordflow">case</span> RRTConnect_I:</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> p = createPlannerRange<og::RRTConnect>(<span class="keyword">true</span>);</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="keywordflow">case</span> RRTstar:</div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> p = createPlannerRange<og::RRTstar>();</div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keywordflow">case</span> EST:</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> p = createPlannerRange<og::EST>();</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keywordflow">case</span> BiEST:</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> p = createPlannerRange<og::BiEST>();</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <span class="keywordflow">case</span> ProjEST:</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> p = createPlannerRangeProj<og::ProjEST>(projection);</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keywordflow">case</span> BITstar:</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> p = createPlanner<og::BITstar>();</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keywordflow">case</span> PRM:</div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> p = createPlanner<og::PRM>();</div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keywordflow">case</span> SPARS:</div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> p = createPlanner<og::SPARS>();</div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keywordflow">case</span> KPIECE:</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> p = createPlannerRangeProj<og::KPIECE1>(projection);</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <span class="keywordflow">case</span> BKPIECE:</div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> p = createPlannerRangeProj<og::BKPIECE1>(projection);</div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> }</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> <span class="keywordflow">return</span> p;</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> }</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keywordtype">void</span> setPlanner(<span class="keyword">enum</span> PLANNER_TYPE planner, <span class="keyword">const</span> std::string &projection = <span class="stringliteral">""</span>)</div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> {</div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> pp = getPlanner(planner, projection);</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> ss->setPlanner(pp);</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> }</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> </div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">ob::PlannerStatus</a> solveOnce(<span class="keywordtype">bool</span> output = <span class="keyword">false</span>, <span class="keyword">const</span> std::string &name = <span class="stringliteral">"ompl"</span>)</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> {</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> ss->setup();</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> </div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">ob::PlannerStatus</a> stat = ss->solve(c_opt.time);</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> std::cout << std::endl;</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> <span class="keywordflow">if</span> (stat)</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> {</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="comment">// Get solution and validate</span></div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="keyword">auto</span> path = ss->getSolutionPath();</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keywordflow">if</span> (!path.check())</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Path fails check!"</span>);</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> </div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> <span class="keywordflow">if</span> (stat == <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a5fade5f3ded9dd85ce1693c1912edaa8">ob::PlannerStatus::APPROXIMATE_SOLUTION</a>)</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Solution is approximate."</span>);</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> </div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> <span class="comment">// Simplify solution and validate simplified solution path.</span></div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Simplifying solution..."</span>);</div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> ss->simplifySolution(5.);</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> </div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="keyword">auto</span> simplePath = ss->getSolutionPath();</div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Simplified Path Length: %.3f -> %.3f"</span>, path.length(), simplePath.length());</div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> </div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordflow">if</span> (!simplePath.check())</div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Simplified path fails check!"</span>);</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> </div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <span class="comment">// Interpolate and validate interpolated solution path.</span></div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Interpolating path..."</span>);</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> path.interpolate();</div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> </div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="keywordflow">if</span> (!path.check())</div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Interpolated simplified path fails check!"</span>);</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> </div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Interpolating simplified path..."</span>);</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> simplePath.interpolate();</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> </div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> <span class="keywordflow">if</span> (!simplePath.check())</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Interpolated simplified path fails check!"</span>);</div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> </div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> <span class="keywordflow">if</span> (output)</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> {</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Dumping path to `%s_path.txt`."</span>, name.c_str());</div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> std::ofstream pathfile((boost::format(<span class="stringliteral">"%1%_path.txt"</span>) % name).str());</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> path.printAsMatrix(pathfile);</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> pathfile.close();</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> </div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Dumping simplified path to `%s_simplepath.txt`."</span>, name.c_str());</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> std::ofstream simplepathfile((boost::format(<span class="stringliteral">"%1%_simplepath.txt"</span>) % name).str());</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> simplePath.printAsMatrix(simplepathfile);</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> simplepathfile.close();</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> }</div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> }</div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"No solution found."</span>);</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> </div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> <span class="keywordflow">return</span> stat;</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> }</div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> </div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> <span class="keywordtype">void</span> setupBenchmark(std::vector<enum PLANNER_TYPE> &planners, <span class="keyword">const</span> std::string &problem)</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> {</div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> bench = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1tools_1_1Benchmark.html">ot::Benchmark</a>(*ss, problem);</div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> </div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> bench->addExperimentParameter(<span class="stringliteral">"n"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(constraint->getAmbientDimension()));</div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> bench->addExperimentParameter(<span class="stringliteral">"k"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(constraint->getManifoldDimension()));</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> bench->addExperimentParameter(<span class="stringliteral">"n - k"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(constraint->getCoDimension()));</div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> bench->addExperimentParameter(<span class="stringliteral">"space"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(type));</div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> </div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> request = <a class="code hl_struct" href="structompl_1_1tools_1_1Benchmark_1_1Request.html">ot::Benchmark::Request</a>(c_opt.time, 2048, 100, 0.1, <span class="keyword">true</span>, <span class="keyword">false</span>, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> </div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> planner : planners)</div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> bench->addPlanner(getPlanner(planner, problem));</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> </div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> bench->setPreRunEvent(</div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> [&](<span class="keyword">const</span> ob::PlannerPtr &planner)</div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> {</div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <span class="keywordflow">if</span> (type == AT || type == TB)</div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> planner->getSpaceInformation()->getStateSpace()->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">ompl::base::AtlasStateSpace</a>>()->clear();</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> planner->getSpaceInformation()->getStateSpace()->as<<a class="code hl_class" href="classompl_1_1base_1_1ConstrainedStateSpace.html">ompl::base::ConstrainedStateSpace</a>>()->clear();</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> </div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> planner->clear();</div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> });</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> }</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> </div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keywordtype">void</span> runBenchmark()</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> {</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> bench->benchmark(request);</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> </div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keyword">auto</span> now(<a class="code hl_function" href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">ompl::time::as_string</a>(<a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a>()));</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keyword">const</span> std::string filename =</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> (boost::format(<span class="stringliteral">"%1%_%2%_%3%_benchmark.log"</span>) % now % bench->getExperimentName() % spaceStr[type]).str();</div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> </div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> bench->saveResultsToFile(filename.c_str());</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> }</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> </div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <span class="keywordtype">void</span> atlasStats()</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> {</div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> <span class="comment">// For atlas types, output information about size of atlas and amount of space explored</span></div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> <span class="keywordflow">if</span> (type == AT || type == TB)</div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> {</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> <span class="keyword">auto</span> at = css->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">ob::AtlasStateSpace</a>>();</div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Atlas has %zu charts"</span>, at->getChartCount());</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <span class="keywordflow">if</span> (type == AT)</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Atlas is approximately %.3f%% open"</span>, at->estimateFrontierPercent());</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> }</div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> }</div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> </div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="keywordtype">void</span> dumpGraph(<span class="keyword">const</span> std::string &name)</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> {</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Dumping planner graph to `%s_graph.graphml`."</span>, name.c_str());</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">ob::PlannerData</a> data(csi);</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> pp->getPlannerData(data);</div>
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> </div>
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> std::ofstream graphfile((boost::format(<span class="stringliteral">"%1%_graph.graphml"</span>) % name).str());</div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#acf9fd81c96cf255b77dabeedefff23b3">printGraphML</a>(graphfile);</div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> graphfile.close();</div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> </div>
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> <span class="keywordflow">if</span> (type == AT || type == TB)</div>
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> {</div>
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Dumping atlas to `%s_atlas.ply`."</span>, name.c_str());</div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> std::ofstream atlasfile((boost::format(<span class="stringliteral">"%1%_atlas.ply"</span>) % name).str());</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> css->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">ob::AtlasStateSpace</a>>()->printPLY(atlasfile);</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> atlasfile.close();</div>
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> }</div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> }</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> </div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> <span class="keyword">enum</span> SPACE_TYPE type;</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> </div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> ob::StateSpacePtr space;</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> ob::ConstraintPtr constraint;</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> </div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> ob::ConstrainedStateSpacePtr css;</div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> ob::ConstrainedSpaceInformationPtr csi;</div>
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> </div>
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> ob::PlannerPtr pp;</div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> </div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> og::SimpleSetupPtr ss;</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> </div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keyword">struct </span><a class="code hl_struct" href="structConstrainedOptions.html">ConstrainedOptions</a> c_opt;</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> <span class="keyword">struct </span><a class="code hl_struct" href="structAtlasOptions.html">AtlasOptions</a> a_opt;</div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> </div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span> <a class="code hl_class" href="classompl_1_1tools_1_1Benchmark.html">ot::Benchmark</a> *bench;</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> <a class="code hl_struct" href="structompl_1_1tools_1_1Benchmark_1_1Request.html">ot::Benchmark::Request</a> request;</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span>};</div>
</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> </div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a></div><div class="ttdoc">Tangent space and bounding polytope approximating some patch of the manifold.</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8h_source.html#l00052">AtlasChart.h:53</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html_ac6089735240c86623dcd42b3cdad973e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#ac6089735240c86623dcd42b3cdad973e">ompl::base::AtlasChart::getNeighborCount</a></div><div class="ttdeci">std::size_t getNeighborCount() const</div><div class="ttdoc">Returns the number of charts this chart shares a halfspace boundary with.</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8h_source.html#l00221">AtlasChart.h:221</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html">ompl::base::AtlasStateSpace</a></div><div class="ttdoc">ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00128">AtlasStateSpace.h:129</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a4d2cca457d09a1a8a022bb5a9bdc3d03"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a4d2cca457d09a1a8a022bb5a9bdc3d03">ompl::base::AtlasStateSpace::getRho_s</a></div><div class="ttdeci">double getRho_s() const</div><div class="ttdoc">Get the sampling radius.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00297">AtlasStateSpace.h:297</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a931df43dd9ce03ea021140b93229ccd5"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a931df43dd9ce03ea021140b93229ccd5">ompl::base::AtlasStateSpace::setExploration</a></div><div class="ttdeci">void setExploration(double exploration)</div><div class="ttdoc">Set the exploration parameter, which tunes the balance of refinement (sampling within known regions) ...</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00235">AtlasStateSpace.h:235</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ompl::base::ConstrainedStateSpace::StateType</a></div><div class="ttdoc">A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8h_source.html#l00170">ConstrainedStateSpace.h:171</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html">ompl::base::ConstrainedStateSpace</a></div><div class="ttdoc">A StateSpace that has a Constraint imposed upon it. Underlying space functions are passed to the ambi...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8h_source.html#l00135">ConstrainedStateSpace.h:136</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition</b> <a href="base_2PlannerData_8h_source.html#l00174">PlannerData.h:175</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_acf9fd81c96cf255b77dabeedefff23b3"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#acf9fd81c96cf255b77dabeedefff23b3">ompl::base::PlannerData::printGraphML</a></div><div class="ttdeci">void printGraphML(std::ostream &out=std::cout) const</div><div class="ttdoc">Writes a GraphML file of this structure to the given stream.</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00282">PlannerData.cpp:282</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ScopedState_html"><div class="ttname"><a href="classompl_1_1base_1_1ScopedState.html">ompl::base::ScopedState</a></div><div class="ttdoc">Definition of a scoped state.</div><div class="ttdef"><b>Definition</b> <a href="ScopedState_8h_source.html#l00056">ScopedState.h:57</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ScopedState_html_aef84ea1a81eaa6a954967ae507fdeed1"><div class="ttname"><a href="classompl_1_1base_1_1ScopedState.html#aef84ea1a81eaa6a954967ae507fdeed1">ompl::base::ScopedState::get</a></div><div class="ttdeci">StateType * get()</div><div class="ttdoc">Returns a pointer to the contained state.</div><div class="ttdef"><b>Definition</b> <a href="ScopedState_8h_source.html#l00393">ScopedState.h:393</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html">ompl::tools::Benchmark</a></div><div class="ttdoc">Benchmark a set of planners on a problem instance.</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00048">Benchmark.h:49</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00066">Console.h:66</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html"><div class="ttname"><a href="namespaceompl_1_1base.html">ompl::base</a></div><div class="ttdoc">This namespace contains sampling based planning routines shared by both planning under geometric cons...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedSpaceInformation_8h_source.html#l00054">ConstrainedSpaceInformation.h:55</a></div></div>
<div class="ttc" id="anamespaceompl_1_1geometric_html"><div class="ttname"><a href="namespaceompl_1_1geometric.html">ompl::geometric</a></div><div class="ttdoc">This namespace contains code that is specific to planning under geometric constraints.</div><div class="ttdef"><b>Definition</b> <a href="GeneticSearch_8h_source.html#l00047">GeneticSearch.h:48</a></div></div>
<div class="ttc" id="anamespaceompl_1_1magic_html"><div class="ttname"><a href="namespaceompl_1_1magic.html">ompl::magic</a></div><div class="ttdoc">This namespace includes magic constants used in various places in OMPL.</div><div class="ttdef"><b>Definition</b> <a href="Constraint_8h_source.html#l00051">Constraint.h:52</a></div></div>
<div class="ttc" id="anamespaceompl_1_1magic_html_acf7675c13db11a313003955552b8708c"><div class="ttname"><a href="namespaceompl_1_1magic.html#acf7675c13db11a313003955552b8708c">ompl::magic::CONSTRAINT_PROJECTION_TOLERANCE</a></div><div class="ttdeci">static const double CONSTRAINT_PROJECTION_TOLERANCE</div><div class="ttdoc">Default projection tolerance of a constraint unless otherwise specified.</div><div class="ttdef"><b>Definition</b> <a href="Constraint_8h_source.html#l00055">Constraint.h:55</a></div></div>
<div class="ttc" id="anamespaceompl_1_1magic_html_ae5ab55799bfff2e34d89258bfb0a7536"><div class="ttname"><a href="namespaceompl_1_1magic.html#ae5ab55799bfff2e34d89258bfb0a7536">ompl::magic::CONSTRAINT_PROJECTION_MAX_ITERATIONS</a></div><div class="ttdeci">static const unsigned int CONSTRAINT_PROJECTION_MAX_ITERATIONS</div><div class="ttdoc">Maximum number of iterations in projection routine until giving up.</div><div class="ttdef"><b>Definition</b> <a href="Constraint_8h_source.html#l00059">Constraint.h:59</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a5da903c529cfbbce79900b7c1cbc6cc3"><div class="ttname"><a href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a></div><div class="ttdeci">point now()</div><div class="ttdoc">Get the current time point.</div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00058">Time.h:58</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_ae8d794354a37128403aba90a187fe532"><div class="ttname"><a href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">ompl::time::as_string</a></div><div class="ttdeci">std::string as_string(const point &p)</div><div class="ttdoc">Return string representation of point in time.</div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00078">Time.h:78</a></div></div>
<div class="ttc" id="anamespaceompl_1_1tools_html"><div class="ttname"><a href="namespaceompl_1_1tools.html">ompl::tools</a></div><div class="ttdoc">Includes various tools such as self config, benchmarking, etc.</div><div class="ttdef"><b>Definition</b> <a href="LightningRetrieveRepair_8h_source.html#l00047">LightningRetrieveRepair.h:48</a></div></div>
<div class="ttc" id="astructAtlasOptions_html"><div class="ttname"><a href="structAtlasOptions.html">AtlasOptions</a></div><div class="ttdef"><b>Definition</b> <a href="#l00211">ConstrainedPlanningCommon.h:212</a></div></div>
<div class="ttc" id="astructConstrainedOptions_html"><div class="ttname"><a href="structConstrainedOptions.html">ConstrainedOptions</a></div><div class="ttdef"><b>Definition</b> <a href="#l00177">ConstrainedPlanningCommon.h:178</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve().</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00048">PlannerStatus.h:49</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a5fade5f3ded9dd85ce1693c1912edaa8"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a5fade5f3ded9dd85ce1693c1912edaa8">ompl::base::PlannerStatus::APPROXIMATE_SOLUTION</a></div><div class="ttdeci">@ APPROXIMATE_SOLUTION</div><div class="ttdoc">The planner found an approximate solution.</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00064">PlannerStatus.h:64</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1Request_html"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1Request.html">ompl::tools::Benchmark::Request</a></div><div class="ttdoc">Representation of a benchmark request.</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00151">Benchmark.h:152</a></div></div>
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