Settings descriptor for settings provided by the default MoveIt! OMPL planning pipeline. More...

#include <planning.h>

Public Member Functions
	Settings ()
	Constructor. Initialized here so an empty class can be used as default arguments in a function. More...

void	setParam (IO::Handler &handler) const
	Sets member variables on the parameter server using handler. More...

Public Attributes
int	max_goal_samples
	Maximum number of successful goal samples to keep. More...

int	max_goal_sampling_attempts
	Maximum number of attempts to sample a goal. More...

int	max_planning_threads
	Maximum number of threads used to service a request. More...

double	max_solution_segment_length
	Maximum solution segment length. More...

int	max_state_sampling_attempts
	Maximum number of attempts to sample a new state. More...

int	minimum_waypoint_count
	Minimum number of waypoints in output path. More...

bool	simplify_solutions
	Whether or not planner should simplify solutions. More...

bool	hybridize_solutions
	Whether or not planner should hybridize solutions. More...

bool	interpolate_solutions
	Whether or not planner should interpolate solutions. More...

bool	use_constraints_approximations
	Absolute silliness. More...

bool	display_random_valid_states
	N/A, defunct. More...

std::string	link_for_exploration_tree
	N/A, defunct. More...

double	maximum_waypoint_distance
	Maximum distance between waypoints in path. More...

Detailed Description

Settings descriptor for settings provided by the default MoveIt! OMPL planning pipeline.

Definition at line 300 of file robowflex_library/include/robowflex_library/planning.h.

Constructor & Destructor Documentation

◆ Settings()

OMPL::Settings::Settings ( )

Constructor. Initialized here so an empty class can be used as default arguments in a function.

OMPL::Settings

Definition at line 300 of file robowflex_library/src/planning.cpp.

   : max_goal_samples(10)
   , max_goal_sampling_attempts(1000)
   , max_planning_threads(4)
   , max_solution_segment_length(0.0)
   , max_state_sampling_attempts(4)
   , minimum_waypoint_count(10)
   , simplify_solutions(true)
   , hybridize_solutions(true)
   , interpolate_solutions(true)
   , use_constraints_approximations(false)
   , display_random_valid_states(false)
   , link_for_exploration_tree("")
   , maximum_waypoint_distance(0.0)
 {
 }

Member Function Documentation

◆ setParam()

void OMPL::Settings::setParam ( IO::Handler & handler ) const

Sets member variables on the parameter server using handler.

Definition at line 317 of file robowflex_library/src/planning.cpp.

 {
     const std::string prefix = "ompl/";
     handler.setParam(prefix + "max_goal_samples", max_goal_samples);
     handler.setParam(prefix + "max_goal_sampling_attempts", max_goal_sampling_attempts);
     handler.setParam(prefix + "max_planning_threads", max_planning_threads);
     handler.setParam(prefix + "max_solution_segment_length", max_solution_segment_length);
     handler.setParam(prefix + "max_state_sampling_attempts", max_state_sampling_attempts);
     handler.setParam(prefix + "minimum_waypoint_count", minimum_waypoint_count);
     handler.setParam(prefix + "simplify_solutions", simplify_solutions);
     handler.setParam(prefix + "use_constraints_approximations", use_constraints_approximations);
     handler.setParam(prefix + "display_random_valid_states", display_random_valid_states);
     handler.setParam(prefix + "link_for_exploration_tree", link_for_exploration_tree);
     handler.setParam(prefix + "maximum_waypoint_distance", maximum_waypoint_distance);
 }