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ompl-devel-0.9.5-1.fc14.i686.rpm

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<!-- doxytag: class="ompl::base::PlannerInputStates" -->
<p>Helper class to extract valid start &amp; goal states. Usually used internally by planners.  
 <a href="classompl_1_1base_1_1PlannerInputStates.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="Planner_8h_source.html">Planner.h</a>&gt;</code></p>

<p><a href="classompl_1_1base_1_1PlannerInputStates-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="a20722a602321fb2c4cc102f2d2500842"></a><!-- doxytag: member="ompl::base::PlannerInputStates::PlannerInputStates" ref="a20722a602321fb2c4cc102f2d2500842" args="(const PlannerPtr &amp;planner)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a20722a602321fb2c4cc102f2d2500842">PlannerInputStates</a> (const <a class="el" href="classompl_1_1base_1_1PlannerPtr.html">PlannerPtr</a> &amp;planner)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. No work is performed. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a50f4b865cb2d6c9d7e834be2482f6cbf"></a><!-- doxytag: member="ompl::base::PlannerInputStates::PlannerInputStates" ref="a50f4b865cb2d6c9d7e834be2482f6cbf" args="(const Planner *planner)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a50f4b865cb2d6c9d7e834be2482f6cbf">PlannerInputStates</a> (const <a class="el" href="classompl_1_1base_1_1Planner.html">Planner</a> *planner)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. No work is performed. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2fe6c7894683450b4a78cdb7a98137d8"></a><!-- doxytag: member="ompl::base::PlannerInputStates::PlannerInputStates" ref="a2fe6c7894683450b4a78cdb7a98137d8" args="(void)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a2fe6c7894683450b4a78cdb7a98137d8">PlannerInputStates</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. No work is performed. A call to <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a839d05b48c0568ee69c2d069cac59a46" title="Set the space information and problem definition this class operates on, based on the available plann...">use()</a> needs to be made, before making any calls to <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a6f4834c11eff3d11a31037b609fc04f9" title="Return the next valid start state or NULL if no more valid start states are available.">nextStart()</a> or <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a76869c529ca398960c06179b420dfdbd" title="Same as above but only one attempt is made to find a valid goal.">nextGoal()</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a616775530a86ee49e8d1aca33fa3c3fb"></a><!-- doxytag: member="ompl::base::PlannerInputStates::~PlannerInputStates" ref="a616775530a86ee49e8d1aca33fa3c3fb" args="(void)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a616775530a86ee49e8d1aca33fa3c3fb">~PlannerInputStates</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. Clear allocated memory. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75e9b9d2fab9b24cf98eba799de348c7"></a><!-- doxytag: member="ompl::base::PlannerInputStates::clear" ref="a75e9b9d2fab9b24cf98eba799de348c7" args="(void)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a75e9b9d2fab9b24cf98eba799de348c7">clear</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear all stored information. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aef9cf9fa3142b98866960e21d23cf763"></a><!-- doxytag: member="ompl::base::PlannerInputStates::restart" ref="aef9cf9fa3142b98866960e21d23cf763" args="(void)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#aef9cf9fa3142b98866960e21d23cf763">restart</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Forget how many states were returned by <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a6f4834c11eff3d11a31037b609fc04f9" title="Return the next valid start state or NULL if no more valid start states are available.">nextStart()</a> and <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a76869c529ca398960c06179b420dfdbd" title="Same as above but only one attempt is made to find a valid goal.">nextGoal()</a> and return all states again. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac75d731597972ffbd3c1d9e3d2dc6276"></a><!-- doxytag: member="ompl::base::PlannerInputStates::update" ref="ac75d731597972ffbd3c1d9e3d2dc6276" args="(void)" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#ac75d731597972ffbd3c1d9e3d2dc6276">update</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the space information and problem definition this class operates on, based on the available planner instance. Returns true if changes were found (different problem definition) and <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a75e9b9d2fab9b24cf98eba799de348c7" title="Clear all stored information.">clear()</a> was called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a839d05b48c0568ee69c2d069cac59a46"></a><!-- doxytag: member="ompl::base::PlannerInputStates::use" ref="a839d05b48c0568ee69c2d069cac59a46" args="(const SpaceInformationPtr &amp;si, const ProblemDefinitionPtr &amp;pdef)" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a839d05b48c0568ee69c2d069cac59a46">use</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &amp;si, const <a class="el" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a> &amp;pdef)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the space information and problem definition this class operates on, based on the available planner instance. If a planner is not set in the constructor argument, a call to this function is needed before any calls to <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a6f4834c11eff3d11a31037b609fc04f9" title="Return the next valid start state or NULL if no more valid start states are available.">nextStart()</a> or <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a76869c529ca398960c06179b420dfdbd" title="Same as above but only one attempt is made to find a valid goal.">nextGoal()</a> are made. Returns true if changes were found (different problem definition) and <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a75e9b9d2fab9b24cf98eba799de348c7" title="Clear all stored information.">clear()</a> was called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7fe0444096b0541b210c73b77aada87f"></a><!-- doxytag: member="ompl::base::PlannerInputStates::use" ref="a7fe0444096b0541b210c73b77aada87f" args="(const SpaceInformation *si, const ProblemDefinition *pdef)" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a7fe0444096b0541b210c73b77aada87f">use</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> *si, const <a class="el" href="classompl_1_1base_1_1ProblemDefinition.html">ProblemDefinition</a> *pdef)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the space information and problem definition this class operates on, based on the available planner instance. If a planner is not set in the constructor argument, a call to this function is needed before any calls to <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a6f4834c11eff3d11a31037b609fc04f9" title="Return the next valid start state or NULL if no more valid start states are available.">nextStart()</a> or <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a76869c529ca398960c06179b420dfdbd" title="Same as above but only one attempt is made to find a valid goal.">nextGoal()</a> are made. Returns true if changes were found (different problem definition) and <a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a75e9b9d2fab9b24cf98eba799de348c7" title="Clear all stored information.">clear()</a> was called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a14c1e8b0dab406705098ace7152b9988"></a><!-- doxytag: member="ompl::base::PlannerInputStates::checkValidity" ref="a14c1e8b0dab406705098ace7152b9988" args="(void) const " -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a14c1e8b0dab406705098ace7152b9988">checkValidity</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the problem definition was set, start state are available and goal was set. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6f4834c11eff3d11a31037b609fc04f9"></a><!-- doxytag: member="ompl::base::PlannerInputStates::nextStart" ref="a6f4834c11eff3d11a31037b609fc04f9" args="(void)" -->
const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a6f4834c11eff3d11a31037b609fc04f9">nextStart</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the next valid start state or NULL if no more valid start states are available. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae8ea1c2fd3e0e92dbc289a79dd597c98"></a><!-- doxytag: member="ompl::base::PlannerInputStates::nextGoal" ref="ae8ea1c2fd3e0e92dbc289a79dd597c98" args="(const PlannerTerminationCondition &amp;ptc)" -->
const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#ae8ea1c2fd3e0e92dbc289a79dd597c98">nextGoal</a> (const <a class="el" href="classompl_1_1base_1_1PlannerTerminationCondition.html">PlannerTerminationCondition</a> &amp;ptc)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the next valid goal state or NULL if no more valid goal states are available. Because sampling of goal states may also produce invalid goals, this function takes an argument that specifies whether a termination condition has been reached. If the termination condition evaluates to true the function terminates even if no valid goal has been found. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a76869c529ca398960c06179b420dfdbd"></a><!-- doxytag: member="ompl::base::PlannerInputStates::nextGoal" ref="a76869c529ca398960c06179b420dfdbd" args="(void)" -->
const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a76869c529ca398960c06179b420dfdbd">nextGoal</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as above but only one attempt is made to find a valid goal. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2b07eafe60651bc6e564a2d45d9ed53d"></a><!-- doxytag: member="ompl::base::PlannerInputStates::haveMoreStartStates" ref="a2b07eafe60651bc6e564a2d45d9ed53d" args="(void) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a2b07eafe60651bc6e564a2d45d9ed53d">haveMoreStartStates</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if there are more potential start states. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae4bd2a541d1d8a66254c56129c84f485"></a><!-- doxytag: member="ompl::base::PlannerInputStates::haveMoreGoalStates" ref="ae4bd2a541d1d8a66254c56129c84f485" args="(void) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#ae4bd2a541d1d8a66254c56129c84f485">haveMoreGoalStates</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if there are more potential start states. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72a68d85cbfbe67359c27d53b7b921cd"></a><!-- doxytag: member="ompl::base::PlannerInputStates::getSeenStartStatesCount" ref="a72a68d85cbfbe67359c27d53b7b921cd" args="(void) const " -->
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#a72a68d85cbfbe67359c27d53b7b921cd">getSeenStartStatesCount</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of start states from the problem definition that were already seen, including invalid ones. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af22d3914810d3f47bf6b60f8b9e53584"></a><!-- doxytag: member="ompl::base::PlannerInputStates::getSampledGoalsCount" ref="af22d3914810d3f47bf6b60f8b9e53584" args="(void) const " -->
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1PlannerInputStates.html#af22d3914810d3f47bf6b60f8b9e53584">getSampledGoalsCount</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of sampled goal states, including invalid ones. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Helper class to extract valid start &amp; goal states. Usually used internally by planners. </p>
<p>This class is meant to behave correctly if the user updates the problem definition between subsequent calls to <a class="el" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::base::Planner::solve()</a> <b>without</b> calling <a class="el" href="classompl_1_1base_1_1Planner.html#a7e99408ada6e1572a14509fd566ae8b8" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::base::Planner::clear()</a> in between. Only allowed changes to the problem definition are accounted for: adding of starring states or adding of goal states for instances inherited from <a class="el" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">ompl::base::GoalSampleableRegion</a>. </p>

<p>Definition at line <a class="el" href="Planner_8h_source.html#l00076">76</a> of file <a class="el" href="Planner_8h_source.html">Planner.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="Planner_8h_source.html">Planner.h</a></li>
<li>src/ompl/base/src/<a class="el" href="Planner_8cpp_source.html">Planner.cpp</a></li>
</ul>
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