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<a href="#var-members">Variables</a> </div>
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<div class="title">ompl::magic Namespace Reference</div> </div>
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<p>This namespace includes magic constants used in various places in OMPL.
<a href="#details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="var-members"></a>
Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae716f011fd25c37894b1853abfbba05b"></a><!-- doxytag: member="ompl::magic::FIND_VALID_STATE_ATTEMPTS_WITHOUT_TIME_CHECK" ref="ae716f011fd25c37894b1853abfbba05b" args="" -->
static const unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#ae716f011fd25c37894b1853abfbba05b">FIND_VALID_STATE_ATTEMPTS_WITHOUT_TIME_CHECK</a> = 2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum number of sampling attempts to find a valid state, without checking whether the allowed time elapsed. This value should not really be changed. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acf09430426a57052295791746f014f12"></a><!-- doxytag: member="ompl::magic::MAX_RANDOM_BOUNCE_STEPS" ref="acf09430426a57052295791746f014f12" args="" -->
static const unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#acf09430426a57052295791746f014f12">MAX_RANDOM_BOUNCE_STEPS</a> = 5</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of steps to take for a random bounce motion generated as part of the expansion step of PRM. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a44f09b05d50332500c8b681d441f91d2"></a><!-- doxytag: member="ompl::magic::DEFAULT_NEAREST_NEIGHBORS" ref="a44f09b05d50332500c8b681d441f91d2" args="" -->
static const unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#a44f09b05d50332500c8b681d441f91d2">DEFAULT_NEAREST_NEIGHBORS</a> = 10</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of nearest neighbors to consider by default in the construction of the PRM roadmap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a89c2a3791d4d4579c36593a70f00588d"></a><!-- doxytag: member="ompl::magic::PROJECTION_DIMENSION_SPLITS" ref="a89c2a3791d4d4579c36593a70f00588d" args="" -->
static const double </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#a89c2a3791d4d4579c36593a70f00588d">PROJECTION_DIMENSION_SPLITS</a> = 20.0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When the cell sizes for a projection are automatically computed, this value defines the number of parts into which each dimension is split. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a481cf3e5cb49a237be7b21dc05fbfeae"></a><!-- doxytag: member="ompl::magic::PROJECTION_EXTENTS_SAMPLES" ref="a481cf3e5cb49a237be7b21dc05fbfeae" args="" -->
static const unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#a481cf3e5cb49a237be7b21dc05fbfeae">PROJECTION_EXTENTS_SAMPLES</a> = 100</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When no cell sizes are specified for a projection, they are inferred like so: 1. approximate extent of projected space by taking a number of samples (the constant below) 2. compute the cell sizes by dividing the extent by PROJECTION_DIMENSION_SPLITS. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abfb9e851ce1422c2114373bcf1ed7224"></a><!-- doxytag: member="ompl::magic::MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION" ref="abfb9e851ce1422c2114373bcf1ed7224" args="" -->
static const double </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#abfb9e851ce1422c2114373bcf1ed7224">MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION</a> = 0.2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For planners: if default values are to be used for the maximum length of motions, this constant defines what fraction of the space extent (computed with <a class="el" href="classompl_1_1base_1_1SpaceInformation.html#a1bc9d650c9e571dbc124e1c7761bce9e" title="Get the maximum extent of the space we are planning in. This is the maximum distance that could be re...">ompl::base::SpaceInformation::getMaximumExtent()</a>) is to be used as the maximum length of a motion. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a711b7ddf17029ddcf154a1ecd3d583fd"></a><!-- doxytag: member="ompl::magic::STD_DEV_AS_SPACE_EXTENT_FRACTION" ref="a711b7ddf17029ddcf154a1ecd3d583fd" args="" -->
static const double </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#a711b7ddf17029ddcf154a1ecd3d583fd">STD_DEV_AS_SPACE_EXTENT_FRACTION</a> = 0.1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When standard deviation is needed for Gaussian sampling in the state space, by default the value of the standard deviation is computed as a fraction of the extent of the space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a22100e2fff9398fce45cfc11e21451f4"></a><!-- doxytag: member="ompl::magic::MAX_VALID_SAMPLE_ATTEMPTS" ref="a22100e2fff9398fce45cfc11e21451f4" args="" -->
static const unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#a22100e2fff9398fce45cfc11e21451f4">MAX_VALID_SAMPLE_ATTEMPTS</a> = 100</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When multiple attempts are needed to generate valid samples, this value defines the default number of attempts. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad96353c64e790206f36a2fb9b2c7d646"></a><!-- doxytag: member="ompl::magic::TEST_STATE_COUNT" ref="ad96353c64e790206f36a2fb9b2c7d646" args="" -->
static const unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceompl_1_1magic.html#ad96353c64e790206f36a2fb9b2c7d646">TEST_STATE_COUNT</a> = 1000</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When multiple states need to be generated as part of the computation of various information (usually through stochastic processes), this parameter controls how many samples are generated. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This namespace includes magic constants used in various places in OMPL. </p>
<p>We strive to minimize the use of constants in the code, but at places, this is necessary. These constants typically do not have to be changed, but we chose to expose their functionality for the more curious user. The constants in this namespace include values typically used in the computation of default settings. </p>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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