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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1SelfConfig.html">SelfConfig</a> </li>
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<a href="#pub-methods">Public Member Functions</a> </div>
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<div class="title">ompl::SelfConfig Class Reference</div> </div>
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<!-- doxytag: class="ompl::SelfConfig" -->
<p>This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached.
<a href="classompl_1_1SelfConfig.html#details">More...</a></p>
<p><code>#include <<a class="el" href="SelfConfig_8h_source.html">SelfConfig.h</a>></code></p>
<p><a href="classompl_1_1SelfConfig-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a19d273dfbfb18c14ae6d9f4eaa71585b"></a><!-- doxytag: member="ompl::SelfConfig::SelfConfig" ref="a19d273dfbfb18c14ae6d9f4eaa71585b" args="(const base::SpaceInformationPtr &si, const std::string &context=std::string())" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1SelfConfig.html#a19d273dfbfb18c14ae6d9f4eaa71585b">SelfConfig</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">base::SpaceInformationPtr</a> &si, const std::string &context=std::string())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct an instance that can configure the space encapsulated by <em>si</em>. Any information printed to the console is prefixed by <em>context</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac795dd61a5ac2ae25762c76f6444e5bf"></a><!-- doxytag: member="ompl::SelfConfig::getProbabilityOfValidState" ref="ac795dd61a5ac2ae25762c76f6444e5bf" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1SelfConfig.html#ac795dd61a5ac2ae25762c76f6444e5bf">getProbabilityOfValidState</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the probability of a sampled state being valid (calls <a class="el" href="classompl_1_1base_1_1SpaceInformation.html#a84daee3700b856630c676b37536c9787" title="Estimate probability of sampling a valid state. setup() is assumed to have been called.">base::SpaceInformation::probabilityOfValidState()</a>) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a30838d63015b4e9ddba668a1dc469e92"></a><!-- doxytag: member="ompl::SelfConfig::getAverageValidMotionLength" ref="a30838d63015b4e9ddba668a1dc469e92" args="(void)" -->
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1SelfConfig.html#a30838d63015b4e9ddba668a1dc469e92">getAverageValidMotionLength</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the probability of a sampled state being valid (calls <a class="el" href="classompl_1_1base_1_1SpaceInformation.html#ae83e285ab400971f1e5e6d171a83eb6c" title="Estimate the length of a valid motion. setup() is assumed to have been called.">base::SpaceInformation::averageValidMotionLength()</a>) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad2b1dc5899d8fab0744bacab31bc1661"></a><!-- doxytag: member="ompl::SelfConfig::configureProjectionEvaluator" ref="ad2b1dc5899d8fab0744bacab31bc1661" args="(base::ProjectionEvaluatorPtr &proj)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1SelfConfig.html#ad2b1dc5899d8fab0744bacab31bc1661">configureProjectionEvaluator</a> (<a class="el" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html">base::ProjectionEvaluatorPtr</a> &proj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If <em>proj</em> is undefined, it is set to the default projection reported by <a class="el" href="classompl_1_1base_1_1StateSpace.html#adae69d06a2060e4e555e9e42453ca97d" title="Get the default projection.">base::StateSpace::getDefaultProjection()</a>. If no default projection is available either, an exception is thrown. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a780bebbba8fd7a867baa0db333211028"></a><!-- doxytag: member="ompl::SelfConfig::configureValidStateSamplingAttempts" ref="a780bebbba8fd7a867baa0db333211028" args="(unsigned int &attempts)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1SelfConfig.html#a780bebbba8fd7a867baa0db333211028">configureValidStateSamplingAttempts</a> (unsigned int &attempts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Instances of <a class="el" href="classompl_1_1base_1_1ValidStateSampler.html" title="Abstract definition of a state sampler.">base::ValidStateSampler</a> need a number of attempts to be specified -- the maximum number of times a new sample is selected and checked to be valid. This function computes a number of <em>attempts</em> such that the probability of obtaining a valid sample is 90%. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a86d0c4b1dc9a9a25bd53a6820a6b973c"></a><!-- doxytag: member="ompl::SelfConfig::configurePlannerRange" ref="a86d0c4b1dc9a9a25bd53a6820a6b973c" args="(double &range)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1SelfConfig.html#a86d0c4b1dc9a9a25bd53a6820a6b973c">configurePlannerRange</a> (double &range)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute what a good length for motion segments is. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a933249c323c888005f0bbea7d8e8a668"></a><!-- doxytag: member="ompl::SelfConfig::print" ref="a933249c323c888005f0bbea7d8e8a668" args="(std::ostream &out=std::cout) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1SelfConfig.html#a933249c323c888005f0bbea7d8e8a668">print</a> (std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print the computed configuration parameters. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached. </p>
<p>Definition at line <a class="el" href="SelfConfig_8h_source.html#l00051">51</a> of file <a class="el" href="SelfConfig_8h_source.html">SelfConfig.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/tools/config/<a class="el" href="SelfConfig_8h_source.html">SelfConfig.h</a></li>
<li>src/ompl/tools/config/src/<a class="el" href="SelfConfig_8cpp_source.html">SelfConfig.cpp</a></li>
</ul>
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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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