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

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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Create the set of classes typically needed to solve a control problem.  
 <a href="classompl_1_1control_1_1SimpleSetup.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="control_2SimpleSetup_8h_source.html">SimpleSetup.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for ompl::control::SimpleSetup:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1control_1_1SimpleSetup__inherit__graph.png" border="0" usemap="#ompl_1_1control_1_1SimpleSetup_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node3" href="classompl_1_1control_1_1ODESimpleSetup.html" title="Create the set of classes typically needed to solve a control problem when forward propagation is com..." alt="" coords="5,83,213,112"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>

<p><a href="classompl_1_1control_1_1SimpleSetup-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="ad6cb6079ac1d67a90ff88fcdd4e1a56d"></a><!-- doxytag: member="ompl::control::SimpleSetup::SimpleSetup" ref="ad6cb6079ac1d67a90ff88fcdd4e1a56d" args="(const ControlSpacePtr &amp;space)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#ad6cb6079ac1d67a90ff88fcdd4e1a56d">SimpleSetup</a> (const <a class="el" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &amp;space)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor needs the control space used for planning. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac992af52bc8e3e5548778f5359fe3875"></a><!-- doxytag: member="ompl::control::SimpleSetup::getSpaceInformation" ref="ac992af52bc8e3e5548778f5359fe3875" args="(void) const " -->
const <a class="el" href="classompl_1_1control_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#ac992af52bc8e3e5548778f5359fe3875">getSpaceInformation</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current instance of the space information. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6cda76e94248d30215ac275123477ee2"></a><!-- doxytag: member="ompl::control::SimpleSetup::getProblemDefinition" ref="a6cda76e94248d30215ac275123477ee2" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">base::ProblemDefinitionPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a6cda76e94248d30215ac275123477ee2">getProblemDefinition</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current instance of the problem definition. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a17406bf1e66f3ca388f4cde9aa4d4b20"></a><!-- doxytag: member="ompl::control::SimpleSetup::getStateSpace" ref="a17406bf1e66f3ca388f4cde9aa4d4b20" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a17406bf1e66f3ca388f4cde9aa4d4b20">getStateSpace</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current instance of the state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a20ce3faeb0abf6377b50acda4e0f76d2"></a><!-- doxytag: member="ompl::control::SimpleSetup::getControlSpace" ref="a20ce3faeb0abf6377b50acda4e0f76d2" args="(void) const " -->
const <a class="el" href="classompl_1_1control_1_1ControlSpacePtr.html">ControlSpacePtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a20ce3faeb0abf6377b50acda4e0f76d2">getControlSpace</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current instance of the control space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3c16c7cb65aad8856c57b4353bbfdadc"></a><!-- doxytag: member="ompl::control::SimpleSetup::getStateValidityChecker" ref="a3c16c7cb65aad8856c57b4353bbfdadc" args="(void) const " -->
const <br class="typebreak"/>
<a class="el" href="classompl_1_1base_1_1StateValidityCheckerPtr.html">base::StateValidityCheckerPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a3c16c7cb65aad8856c57b4353bbfdadc">getStateValidityChecker</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current instance of the state validity checker. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a929f1eb96a8d97e610074c467fcc21be"></a><!-- doxytag: member="ompl::control::SimpleSetup::getStatePropagator" ref="a929f1eb96a8d97e610074c467fcc21be" args="(void) const " -->
const StatePropagatorPtr &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>getStatePropagator</b> (void) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a450d2a8cc1b5a1dc4c2a41d56a8f6565"></a><!-- doxytag: member="ompl::control::SimpleSetup::getGoal" ref="a450d2a8cc1b5a1dc4c2a41d56a8f6565" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1GoalPtr.html">base::GoalPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a450d2a8cc1b5a1dc4c2a41d56a8f6565">getGoal</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current goal definition. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a94f2001c35ab82b5065141df8fc325a7"></a><!-- doxytag: member="ompl::control::SimpleSetup::getPlanner" ref="a94f2001c35ab82b5065141df8fc325a7" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1PlannerPtr.html">base::PlannerPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a94f2001c35ab82b5065141df8fc325a7">getPlanner</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current planner. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2873128ad688fbeaefdc68b7f92eb55f"></a><!-- doxytag: member="ompl::control::SimpleSetup::haveExactSolutionPath" ref="a2873128ad688fbeaefdc68b7f92eb55f" args="(void) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a2873128ad688fbeaefdc68b7f92eb55f">haveExactSolutionPath</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return true if a solution path is available (previous call to <a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a279efbe5f659a47e1749a3947a1f978e" title="Run the planner for a specified amount of time (default is 1 second)">solve()</a> was successful) and the solution is exact (not approximate) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a573453358430deba20d2b97f79af2a91"></a><!-- doxytag: member="ompl::control::SimpleSetup::haveSolutionPath" ref="a573453358430deba20d2b97f79af2a91" args="(void) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a573453358430deba20d2b97f79af2a91">haveSolutionPath</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return true if a solution path is available (previous call to <a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a279efbe5f659a47e1749a3947a1f978e" title="Run the planner for a specified amount of time (default is 1 second)">solve()</a> was successful). The solution may be approximate. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aacd350f0002e3e0ffd608099484eabdb"></a><!-- doxytag: member="ompl::control::SimpleSetup::getSolutionPath" ref="aacd350f0002e3e0ffd608099484eabdb" args="(void) const " -->
<a class="el" href="classompl_1_1control_1_1PathControl.html">PathControl</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#aacd350f0002e3e0ffd608099484eabdb">getSolutionPath</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the solution path. Throw an exception if no solution is available. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1e627596e3e9fb5894c7e7c28607640e"></a><!-- doxytag: member="ompl::control::SimpleSetup::getPlannerData" ref="a1e627596e3e9fb5894c7e7c28607640e" args="(void) const " -->
<a class="el" href="classompl_1_1control_1_1PlannerData.html">control::PlannerData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a1e627596e3e9fb5894c7e7c28607640e">getPlannerData</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get information about the exploration data structure the motion planner used. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a83836265f90c0d650edcb72610e4f690"></a><!-- doxytag: member="ompl::control::SimpleSetup::setStateValidityChecker" ref="a83836265f90c0d650edcb72610e4f690" args="(const base::StateValidityCheckerPtr &amp;svc)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a83836265f90c0d650edcb72610e4f690">setStateValidityChecker</a> (const <a class="el" href="classompl_1_1base_1_1StateValidityCheckerPtr.html">base::StateValidityCheckerPtr</a> &amp;svc)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the state validity checker to use. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a415e21e0b3a793a880b4c297c92599eb"></a><!-- doxytag: member="ompl::control::SimpleSetup::setStateValidityChecker" ref="a415e21e0b3a793a880b4c297c92599eb" args="(const base::StateValidityCheckerFn &amp;svc)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a415e21e0b3a793a880b4c297c92599eb">setStateValidityChecker</a> (const <a class="el" href="namespaceompl_1_1base.html#a208ad51fcef09961293d23b589a4dbfa">base::StateValidityCheckerFn</a> &amp;svc)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the state validity checker to use. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac43f41929f8bed01e61ef9b8d3ad7aed"></a><!-- doxytag: member="ompl::control::SimpleSetup::setStatePropagator" ref="ac43f41929f8bed01e61ef9b8d3ad7aed" args="(const StatePropagatorFn &amp;sp)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#ac43f41929f8bed01e61ef9b8d3ad7aed">setStatePropagator</a> (const <a class="el" href="namespaceompl_1_1control.html#acce331fefa24a5f76ce796c391090068">StatePropagatorFn</a> &amp;sp)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the function that performs state propagation. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a55dec29f164862b0493b8981439506e9"></a><!-- doxytag: member="ompl::control::SimpleSetup::setStatePropagator" ref="a55dec29f164862b0493b8981439506e9" args="(const StatePropagatorPtr &amp;sp)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a55dec29f164862b0493b8981439506e9">setStatePropagator</a> (const StatePropagatorPtr &amp;sp)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the instance of <a class="el" href="classompl_1_1control_1_1StatePropagator.html">StatePropagator</a> to perform state propagation. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9ad38c8d4fa369fb8adb82e07840d81c"></a><!-- doxytag: member="ompl::control::SimpleSetup::setStartAndGoalStates" ref="a9ad38c8d4fa369fb8adb82e07840d81c" args="(const base::ScopedState&lt;&gt; &amp;start, const base::ScopedState&lt;&gt; &amp;goal, const double threshold=std::numeric_limits&lt; double &gt;::epsilon())" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a9ad38c8d4fa369fb8adb82e07840d81c">setStartAndGoalStates</a> (const <a class="el" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState</a>&lt;&gt; &amp;start, const <a class="el" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState</a>&lt;&gt; &amp;goal, const double threshold=std::numeric_limits&lt; double &gt;::epsilon())</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the start and goal states to use. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4fbdf2637f503a03e39bbc7ab637b687"></a><!-- doxytag: member="ompl::control::SimpleSetup::setGoalState" ref="a4fbdf2637f503a03e39bbc7ab637b687" args="(const base::ScopedState&lt;&gt; &amp;goal, const double threshold=std::numeric_limits&lt; double &gt;::epsilon())" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a4fbdf2637f503a03e39bbc7ab637b687">setGoalState</a> (const <a class="el" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState</a>&lt;&gt; &amp;goal, const double threshold=std::numeric_limits&lt; double &gt;::epsilon())</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">A simple form of <a class="el" href="classompl_1_1control_1_1SimpleSetup.html#ac72f0ae91f54d455afb385f770870091" title="Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called...">setGoal()</a>. The goal will be an instance of <a class="el" href="classompl_1_1base_1_1GoalState.html" title="Definition of a goal state.">ompl::base::GoalState</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a10cbfb4aff914e9c7ec71f4e1e2cf546"></a><!-- doxytag: member="ompl::control::SimpleSetup::addStartState" ref="a10cbfb4aff914e9c7ec71f4e1e2cf546" args="(const base::ScopedState&lt;&gt; &amp;state)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a10cbfb4aff914e9c7ec71f4e1e2cf546">addStartState</a> (const <a class="el" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState</a>&lt;&gt; &amp;state)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a starting state for planning. This call is not needed if <a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a9ad38c8d4fa369fb8adb82e07840d81c" title="Set the start and goal states to use.">setStartAndGoalStates()</a> has been called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a90566e2ae49586081336c7ee17d54406"></a><!-- doxytag: member="ompl::control::SimpleSetup::clearStartStates" ref="a90566e2ae49586081336c7ee17d54406" args="(void)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a90566e2ae49586081336c7ee17d54406">clearStartStates</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the currently set starting states. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a310f28cce26733d75f9388a5026a6382"></a><!-- doxytag: member="ompl::control::SimpleSetup::setStartState" ref="a310f28cce26733d75f9388a5026a6382" args="(const base::ScopedState&lt;&gt; &amp;state)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a310f28cce26733d75f9388a5026a6382">setStartState</a> (const <a class="el" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState</a>&lt;&gt; &amp;state)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the currently set starting states and add <em>state</em> as the starting state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac72f0ae91f54d455afb385f770870091"></a><!-- doxytag: member="ompl::control::SimpleSetup::setGoal" ref="ac72f0ae91f54d455afb385f770870091" args="(const base::GoalPtr &amp;goal)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#ac72f0ae91f54d455afb385f770870091">setGoal</a> (const <a class="el" href="classompl_1_1base_1_1GoalPtr.html">base::GoalPtr</a> &amp;goal)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the goal for planning. This call is not needed if <a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a9ad38c8d4fa369fb8adb82e07840d81c" title="Set the start and goal states to use.">setStartAndGoalStates()</a> has been called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a09bcf889f9bf5d96fbc0c995535e4706"></a><!-- doxytag: member="ompl::control::SimpleSetup::setPlanner" ref="a09bcf889f9bf5d96fbc0c995535e4706" args="(const base::PlannerPtr &amp;planner)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a09bcf889f9bf5d96fbc0c995535e4706">setPlanner</a> (const <a class="el" href="classompl_1_1base_1_1PlannerPtr.html">base::PlannerPtr</a> &amp;planner)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aad0b69f028201b65bac027ba080146aa"></a><!-- doxytag: member="ompl::control::SimpleSetup::setPlannerAllocator" ref="aad0b69f028201b65bac027ba080146aa" args="(const base::PlannerAllocator &amp;pa)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#aad0b69f028201b65bac027ba080146aa">setPlannerAllocator</a> (const <a class="el" href="namespaceompl_1_1base.html#a52191d97eed3ef76517fd4f6f94d27a9">base::PlannerAllocator</a> &amp;pa)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the planner allocator to use. This is only used if no planner has been set. This is optional -- a default planner will be used if no planner is otherwise specified. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a279efbe5f659a47e1749a3947a1f978e"></a><!-- doxytag: member="ompl::control::SimpleSetup::solve" ref="a279efbe5f659a47e1749a3947a1f978e" args="(double time=1.0)" -->
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a279efbe5f659a47e1749a3947a1f978e">solve</a> (double time=1.0)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Run the planner for a specified amount of time (default is 1 second) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad269644cce823f54f6124e49566e7e90"></a><!-- doxytag: member="ompl::control::SimpleSetup::getLastPlanComputationTime" ref="ad269644cce823f54f6124e49566e7e90" args="(void) const " -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#ad269644cce823f54f6124e49566e7e90">getLastPlanComputationTime</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the amount of time (in seconds) spent during the last planning step. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7f44da72fe96fb4e0326962d2ed6a52c"></a><!-- doxytag: member="ompl::control::SimpleSetup::clear" ref="a7f44da72fe96fb4e0326962d2ed6a52c" args="(void)" -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a7f44da72fe96fb4e0326962d2ed6a52c">clear</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start &amp; goal states are not affected. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac215c0aaffc786d112c88f050cbf4164"></a><!-- doxytag: member="ompl::control::SimpleSetup::print" ref="ac215c0aaffc786d112c88f050cbf4164" args="(std::ostream &amp;out=std::cout) const " -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#ac215c0aaffc786d112c88f050cbf4164">print</a> (std::ostream &amp;out=std::cout) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Print information about the current setup. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6b3e6976af723f42cbbabbe41a51d898"></a><!-- doxytag: member="ompl::control::SimpleSetup::setup" ref="a6b3e6976af723f42cbbabbe41a51d898" args="(void)" -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a6b3e6976af723f42cbbabbe41a51d898">setup</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">This method will create the necessary classes for planning. The <a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a279efbe5f659a47e1749a3947a1f978e" title="Run the planner for a specified amount of time (default is 1 second)">solve()</a> method will call this function automatically. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae40aeef5f330422fe81117bf3039df80"></a><!-- doxytag: member="ompl::control::SimpleSetup::si_" ref="ae40aeef5f330422fe81117bf3039df80" args="" -->
<a class="el" href="classompl_1_1control_1_1SpaceInformationPtr.html">SpaceInformationPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80">si_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The created space information. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0da5fd5aa172bafe9b3c6ec77ec417bc"></a><!-- doxytag: member="ompl::control::SimpleSetup::pdef_" ref="a0da5fd5aa172bafe9b3c6ec77ec417bc" args="" -->
<a class="el" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">base::ProblemDefinitionPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc">pdef_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The created problem definition. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c65fbeb69b22217bbfdd3ec4d7afb9f"></a><!-- doxytag: member="ompl::control::SimpleSetup::planner_" ref="a1c65fbeb69b22217bbfdd3ec4d7afb9f" args="" -->
<a class="el" href="classompl_1_1base_1_1PlannerPtr.html">base::PlannerPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f">planner_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The maintained planner instance. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1cf42df203befd44e0d27ea0fa697191"></a><!-- doxytag: member="ompl::control::SimpleSetup::pa_" ref="a1cf42df203befd44e0d27ea0fa697191" args="" -->
<a class="el" href="namespaceompl_1_1base.html#a52191d97eed3ef76517fd4f6f94d27a9">base::PlannerAllocator</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a1cf42df203befd44e0d27ea0fa697191">pa_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The optional planner allocator. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a07e2cf7b8077d90ae8ce4f6c30a49cd0"></a><!-- doxytag: member="ompl::control::SimpleSetup::configured_" ref="a07e2cf7b8077d90ae8ce4f6c30a49cd0" args="" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a07e2cf7b8077d90ae8ce4f6c30a49cd0">configured_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag indicating whether the classes needed for planning are set up. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af5402de1220a497b5b1fc901f6452689"></a><!-- doxytag: member="ompl::control::SimpleSetup::planTime_" ref="af5402de1220a497b5b1fc901f6452689" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#af5402de1220a497b5b1fc901f6452689">planTime_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The amount of time the last planning step took. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a061986be314d1aa6f08c1301cf72c673"></a><!-- doxytag: member="ompl::control::SimpleSetup::msg_" ref="a061986be314d1aa6f08c1301cf72c673" args="" -->
<a class="el" href="classompl_1_1msg_1_1Interface.html">msg::Interface</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1SimpleSetup.html#a061986be314d1aa6f08c1301cf72c673">msg_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Interface for console output. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Create the set of classes typically needed to solve a control problem. </p>

<p>Definition at line <a class="el" href="control_2SimpleSetup_8h_source.html#l00057">57</a> of file <a class="el" href="control_2SimpleSetup_8h_source.html">SimpleSetup.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/control/<a class="el" href="control_2SimpleSetup_8h_source.html">SimpleSetup.h</a></li>
<li>src/ompl/control/src/<a class="el" href="control_2src_2SimpleSetup_8cpp_source.html">SimpleSetup.cpp</a></li>
</ul>
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  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
  <a href="http://www.cs.rice.edu">Department of Computer Science</a> &bull;
  <a href="http://www.rice.edu">Rice University</a><br>
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