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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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<!-- doxytag: class="ompl::geometric::SimpleSetup" -->
<p>Create the set of classes typically needed to solve a geometric problem.  
 <a href="classompl_1_1geometric_1_1SimpleSetup.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="geometric_2SimpleSetup_8h_source.html">SimpleSetup.h</a>&gt;</code></p>

<p><a href="classompl_1_1geometric_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="af945064d1e9216058e5ad1a4daa8d1f1"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::SimpleSetup" ref="af945064d1e9216058e5ad1a4daa8d1f1" args="(const base::StateSpacePtr &amp;space)" -->
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#af945064d1e9216058e5ad1a4daa8d1f1">SimpleSetup</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">base::StateSpacePtr</a> &amp;space)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor needs the state space used for planning. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d971cd6f69b19d3bfc5d2e1e1ff2282"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getSpaceInformation" ref="a1d971cd6f69b19d3bfc5d2e1e1ff2282" args="(void) const " -->
const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">base::SpaceInformationPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a1d971cd6f69b19d3bfc5d2e1e1ff2282">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="a59fe41a05fd3e921103dface4b35cac7"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getProblemDefinition" ref="a59fe41a05fd3e921103dface4b35cac7" 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_1geometric_1_1SimpleSetup.html#a59fe41a05fd3e921103dface4b35cac7">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="a2c19834748f3c742be67eb0ce160253b"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getStateSpace" ref="a2c19834748f3c742be67eb0ce160253b" 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_1geometric_1_1SimpleSetup.html#a2c19834748f3c742be67eb0ce160253b">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="ada5fa8f06af077aed5c4340639217b62"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getStateValidityChecker" ref="ada5fa8f06af077aed5c4340639217b62" 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_1geometric_1_1SimpleSetup.html#ada5fa8f06af077aed5c4340639217b62">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="ae7e34922f1877596c5aeb9561326ac98"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getGoal" ref="ae7e34922f1877596c5aeb9561326ac98" 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_1geometric_1_1SimpleSetup.html#ae7e34922f1877596c5aeb9561326ac98">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="a59bc33ed671d1e654c78d7703564f1e2"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getPlanner" ref="a59bc33ed671d1e654c78d7703564f1e2" 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_1geometric_1_1SimpleSetup.html#a59bc33ed671d1e654c78d7703564f1e2">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="abf0fe47835a29a9df58d6de762beca63"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getPathSimplifier" ref="abf0fe47835a29a9df58d6de762beca63" args="(void) const " -->
const <a class="el" href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#abf0fe47835a29a9df58d6de762beca63">getPathSimplifier</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the path simplifier. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6455ea0313d0ab899852006d5fe72fc6"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getPathSimplifier" ref="a6455ea0313d0ab899852006d5fe72fc6" args="(void)" -->
<a class="el" href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a6455ea0313d0ab899852006d5fe72fc6">getPathSimplifier</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the path simplifier. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4044f544ea2e436a13d42fdd1ef378e2"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::haveExactSolutionPath" ref="a4044f544ea2e436a13d42fdd1ef378e2" args="(void) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a4044f544ea2e436a13d42fdd1ef378e2">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_1geometric_1_1SimpleSetup.html#afa5c405eac3a1b71247aa93cc2b1c3e0" 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="a1e70f6b31c422cfa937d8f307726c54c"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::haveSolutionPath" ref="a1e70f6b31c422cfa937d8f307726c54c" args="(void) const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a1e70f6b31c422cfa937d8f307726c54c">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_1geometric_1_1SimpleSetup.html#afa5c405eac3a1b71247aa93cc2b1c3e0" 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="aefc524cec2c127d9eced1465c2dd71cf"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getSolutionPath" ref="aefc524cec2c127d9eced1465c2dd71cf" args="(void) const " -->
<a class="el" href="classompl_1_1geometric_1_1PathGeometric.html">PathGeometric</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#aefc524cec2c127d9eced1465c2dd71cf">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="a8e07d6ccdbf405a8acfff912f0b25581"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getPlannerData" ref="a8e07d6ccdbf405a8acfff912f0b25581" args="(void) const " -->
<a class="el" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a8e07d6ccdbf405a8acfff912f0b25581">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="a6774bcc65c0968e2cb927bab464a3aad"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setStateValidityChecker" ref="a6774bcc65c0968e2cb927bab464a3aad" args="(const base::StateValidityCheckerPtr &amp;svc)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a6774bcc65c0968e2cb927bab464a3aad">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="ad6b07d6a351500ea1333151733b254e2"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setStateValidityChecker" ref="ad6b07d6a351500ea1333151733b254e2" args="(const base::StateValidityCheckerFn &amp;svc)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#ad6b07d6a351500ea1333151733b254e2">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="a5613360d370f7c68adde45f03d1966d3"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setStartAndGoalStates" ref="a5613360d370f7c68adde45f03d1966d3" 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_1geometric_1_1SimpleSetup.html#a5613360d370f7c68adde45f03d1966d3">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="ab1dc047ae0b70d3492d7e222f56d83a7"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::addStartState" ref="ab1dc047ae0b70d3492d7e222f56d83a7" args="(const base::ScopedState&lt;&gt; &amp;state)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#ab1dc047ae0b70d3492d7e222f56d83a7">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_1geometric_1_1SimpleSetup.html#a5613360d370f7c68adde45f03d1966d3" 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="a02a0d0bec46bd4aaef232d1707ddd26d"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::clearStartStates" ref="a02a0d0bec46bd4aaef232d1707ddd26d" args="(void)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a02a0d0bec46bd4aaef232d1707ddd26d">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="aee17b73abd2876dc4dbffd02038ded34"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setStartState" ref="aee17b73abd2876dc4dbffd02038ded34" args="(const base::ScopedState&lt;&gt; &amp;state)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#aee17b73abd2876dc4dbffd02038ded34">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="a8bb806d078ddaded372d7cbe4b1ef82a"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setGoalState" ref="a8bb806d078ddaded372d7cbe4b1ef82a" 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_1geometric_1_1SimpleSetup.html#a8bb806d078ddaded372d7cbe4b1ef82a">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_1geometric_1_1SimpleSetup.html#a6f6e9a1b5facde7915f51e86b48860e9" 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="a6f6e9a1b5facde7915f51e86b48860e9"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setGoal" ref="a6f6e9a1b5facde7915f51e86b48860e9" args="(const base::GoalPtr &amp;goal)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a6f6e9a1b5facde7915f51e86b48860e9">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_1geometric_1_1SimpleSetup.html#a5613360d370f7c68adde45f03d1966d3" 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="a8a94558b2ece27d938a92b062d55df71"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setPlanner" ref="a8a94558b2ece27d938a92b062d55df71" args="(const base::PlannerPtr &amp;planner)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a8a94558b2ece27d938a92b062d55df71">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="a9e2d929e58376c4806234b6a473cd3e8"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setPlannerAllocator" ref="a9e2d929e58376c4806234b6a473cd3e8" args="(const base::PlannerAllocator &amp;pa)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a9e2d929e58376c4806234b6a473cd3e8">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="afa5c405eac3a1b71247aa93cc2b1c3e0"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::solve" ref="afa5c405eac3a1b71247aa93cc2b1c3e0" args="(double time=1.0)" -->
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#afa5c405eac3a1b71247aa93cc2b1c3e0">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="a57d25c8b43cbe00f2c981fe3f6190b5e"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getLastPlanComputationTime" ref="a57d25c8b43cbe00f2c981fe3f6190b5e" args="(void) const " -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a57d25c8b43cbe00f2c981fe3f6190b5e">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="a2eb9cd8774d61c9bccf1645a31b08225"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::getLastSimplificationTime" ref="a2eb9cd8774d61c9bccf1645a31b08225" args="(void) const " -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a2eb9cd8774d61c9bccf1645a31b08225">getLastSimplificationTime</a> (void) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the amount of time (in seconds) spend during the last path simplification step. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a54eb32b536793a1f716fa7c4c2de9b5b"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::simplifySolution" ref="a54eb32b536793a1f716fa7c4c2de9b5b" args="(void)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a54eb32b536793a1f716fa7c4c2de9b5b">simplifySolution</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Attempt to simplify the current solution path. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5c93883efc9e53e46e7778ebb598d220"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::clear" ref="a5c93883efc9e53e46e7778ebb598d220" args="(void)" -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a5c93883efc9e53e46e7778ebb598d220">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="ae787775ec6d05e0e9dcd6cd379839ce5"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::print" ref="ae787775ec6d05e0e9dcd6cd379839ce5" args="(std::ostream &amp;out=std::cout) const " -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#ae787775ec6d05e0e9dcd6cd379839ce5">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="af7196b38f02c10a5c2fc13261ce29781"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::setup" ref="af7196b38f02c10a5c2fc13261ce29781" args="(void)" -->
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#af7196b38f02c10a5c2fc13261ce29781">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_1geometric_1_1SimpleSetup.html#afa5c405eac3a1b71247aa93cc2b1c3e0" 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="a769e167e2959b1ca59fc9b3ea2416f45"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::si_" ref="a769e167e2959b1ca59fc9b3ea2416f45" args="" -->
<a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">base::SpaceInformationPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">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="ab996b6b96ab19c5f51ca5167bb8dd60a"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::pdef_" ref="ab996b6b96ab19c5f51ca5167bb8dd60a" 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_1geometric_1_1SimpleSetup.html#ab996b6b96ab19c5f51ca5167bb8dd60a">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="a580b3608f6b473a1ea0bc5febd0b83cc"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::planner_" ref="a580b3608f6b473a1ea0bc5febd0b83cc" 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_1geometric_1_1SimpleSetup.html#a580b3608f6b473a1ea0bc5febd0b83cc">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="af0eec15376eb6e47b0ad03e7f281c420"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::pa_" ref="af0eec15376eb6e47b0ad03e7f281c420" 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_1geometric_1_1SimpleSetup.html#af0eec15376eb6e47b0ad03e7f281c420">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="a0b1dcfac122177dfdd3d64a0bbf86212"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::psk_" ref="a0b1dcfac122177dfdd3d64a0bbf86212" args="" -->
<a class="el" href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a0b1dcfac122177dfdd3d64a0bbf86212">psk_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The instance of the path simplifier. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4a346b6fccff04f3df867d78dba27db4"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::configured_" ref="a4a346b6fccff04f3df867d78dba27db4" args="" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a4a346b6fccff04f3df867d78dba27db4">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="a1747fe1bdce1cb4c9284c98f381fcc1b"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::planTime_" ref="a1747fe1bdce1cb4c9284c98f381fcc1b" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a1747fe1bdce1cb4c9284c98f381fcc1b">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="a07bd87a344ef361d581b799e75471307"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::simplifyTime_" ref="a07bd87a344ef361d581b799e75471307" args="" -->
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1geometric_1_1SimpleSetup.html#a07bd87a344ef361d581b799e75471307">simplifyTime_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The amount of time the last path simplification step took. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af64e7555e6ad536107942b2922ce22aa"></a><!-- doxytag: member="ompl::geometric::SimpleSetup::msg_" ref="af64e7555e6ad536107942b2922ce22aa" 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_1geometric_1_1SimpleSetup.html#af64e7555e6ad536107942b2922ce22aa">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 geometric problem. </p>

<p>Definition at line <a class="el" href="geometric_2SimpleSetup_8h_source.html#l00056">56</a> of file <a class="el" href="geometric_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/geometric/<a class="el" href="geometric_2SimpleSetup_8h_source.html">SimpleSetup.h</a></li>
<li>src/ompl/geometric/src/<a class="el" href="geometric_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;
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  <a href="http://www.rice.edu">Rice University</a><br>
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