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<div class="title">AppBase.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Rice University Software Distribution License</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2010, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All Rights Reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* For a full description see the file named LICENSE.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">*</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">/* Author: Ioan Sucan */</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#ifndef OMPLAPP_APP_BASE_</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#define OMPLAPP_APP_BASE_</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "omplapp/geometry/RigidBodyGeometry.h"</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <ompl/geometric/SimpleSetup.h></span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <ompl/control/SimpleSetup.h></span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "omplapp/apps/detail/appUtil.h"</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="namespaceompl.html"> 21</a></span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> {</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">namespace </span>app</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  {</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keyword">enum class</span> AppType</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  { GEOMETRIC, CONTROL };</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keyword">template</span><AppType T></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">struct </span>AppTypeSelector</div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="namespaceompl_1_1app.html"> 31</a></span>  {</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keyword">using</span> SimpleSetup = <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html">geometric::SimpleSetup</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keyword">using</span> SpaceType = base::StateSpacePtr;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  };</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">template</span><></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">struct </span>AppTypeSelector<AppType::CONTROL></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  {</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">using</span> SimpleSetup = <a class="code" href="classompl_1_1control_1_1SimpleSetup.html">control::SimpleSetup</a>;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">using</span> SpaceType = control::ControlSpacePtr;</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  };</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">template</span><AppType T></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">class </span>AppBase : <span class="keyword">public</span> AppTypeSelector<T>::SimpleSetup,</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">public</span> RigidBodyGeometry</div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structompl_1_1app_1_1AppTypeSelector.html"> 46</a></span>  {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classompl_1_1app_1_1AppBase.html">AppBase</a>(<span class="keyword">const</span> <span class="keyword">typename</span> AppTypeSelector<T>::SpaceType &space, <a class="code" href="namespaceompl_1_1app.html#a4eb5e3e5778337b61b7d3066eb2b9639">MotionModel</a> model) :</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html">AppTypeSelector<T>::SimpleSetup</a>(space), <a class="code" href="classompl_1_1app_1_1RigidBodyGeometry.html#a7725a8ba5d6559e59ed0fec797c9f82c">RigidBodyGeometry</a>(model)</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  {</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  }</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structompl_1_1app_1_1AppTypeSelector_3_01AppType_1_1CONTROL_01_4.html"> 53</a></span>  ~<a class="code" href="classompl_1_1app_1_1AppBase.html">AppBase</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  AppType getAppType()</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">return</span> AppType::GEOMETRIC;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">const</span> std::string& getName()</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classompl_1_1app_1_1AppBase.html"> 60</a></span>  {</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">return</span> name_;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  }</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isSelfCollisionEnabled() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<></a> getDefaultStartState() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<></a> getFullStateFromGeometricComponent(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<></a> &state) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<></a> getGeometricComponentState(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<></a> &state, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<></a>(getGeometricComponentStateSpace(), getGeometricComponentStateInternal(state.<a class="code" href="classompl_1_1base_1_1ScopedState.html#a055e6b97092ffbc0f5e485f661db0e49">get</a>(), index));</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  }</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> base::StateSpacePtr& getGeometricComponentStateSpace() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getRobotCount() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  GeometricStateExtractor getGeometricStateExtractor()<span class="keyword"> const</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">return</span> [<span class="keyword">this</span>](<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a>* state, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">return</span> getGeometricComponentStateInternal(state, index);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  };</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> inferEnvironmentBounds()</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  {</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  InferEnvironmentBounds(getGeometricComponentStateSpace(), *<span class="keyword">static_cast<</span><a class="code" href="classompl_1_1app_1_1RigidBodyGeometry.html#a7725a8ba5d6559e59ed0fec797c9f82c">RigidBodyGeometry</a>*<span class="keyword">></span>(<span class="keyword">this</span>));</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> inferProblemDefinitionBounds()</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  {</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  InferProblemDefinitionBounds(<a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aa520304e2c0b0c6574404f7045bacb85">AppTypeSelector<T>::SimpleSetup::getProblemDefinition</a>(), getGeometricStateExtractor(), <a class="code" href="classompl_1_1app_1_1RigidBodyGeometry.html#abd74d6c1e427f0ea15639bd2e272edac">factor_</a>, <a class="code" href="classompl_1_1app_1_1RigidBodyGeometry.html#a0478e6dc78c1a6979a7a40c9a197b598">add_</a>,</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  getRobotCount(), getGeometricComponentStateSpace(), mtype_);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1app_1_1AppBase.html#a8fb5fb05c9b2d0b6224888db32a1b6f6">setup</a>()<span class="keyword"> override</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  inferEnvironmentBounds();</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aa520304e2c0b0c6574404f7045bacb85">AppTypeSelector<T>::SimpleSetup::getProblemDefinition</a>()->getStartStateCount() == 0)</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  {</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Adding default start state"</span>);</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ab1dc047ae0b70d3492d7e222f56d83a7">AppTypeSelector<T>::SimpleSetup::addStartState</a>(getDefaultStartState());</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  }</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  inferProblemDefinitionBounds();</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keyword">const</span> base::StateValidityCheckerPtr &svc = <a class="code" href="classompl_1_1app_1_1RigidBodyGeometry.html#a0c2e87c6f133d7cd2918d9856b215d22">allocStateValidityChecker</a>(<a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">AppTypeSelector<T>::SimpleSetup::si_</a>,</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  getGeometricStateExtractor(), isSelfCollisionEnabled());</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">AppTypeSelector<T>::SimpleSetup::si_</a>-><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#ad8c8d2305ea06c82eb9f60df180a8e5b">getStateValidityChecker</a>() != svc)</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">AppTypeSelector<T>::SimpleSetup::si_</a>->setStateValidityChecker(svc);</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classompl_1_1app_1_1AppBase.html#a8fb5fb05c9b2d0b6224888db32a1b6f6"> 114</a></span>  </div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aa2c3731d645925949b46aa7994a8df01">AppTypeSelector<T>::SimpleSetup::getStateSpace</a>()->setup();</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordflow">if</span> (!<a class="code" href="structompl_1_1app_1_1AppTypeSelector.html">AppTypeSelector<T>::SimpleSetup::getStateSpace</a>()->hasDefaultProjection())</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aa2c3731d645925949b46aa7994a8df01">AppTypeSelector<T>::SimpleSetup::getStateSpace</a>()-></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  registerDefaultProjection(allocGeometricStateProjector(<a class="code" href="structompl_1_1app_1_1AppTypeSelector.html">AppTypeSelector<T>::SimpleSetup::getStateSpace</a>(),</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  mtype_, getGeometricComponentStateSpace(),</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  getGeometricStateExtractor()));</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#af245005feb3c0b525e1ac5d397c8d3ff">AppTypeSelector<T>::SimpleSetup::setup</a>();</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  }</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1app_1_1AppBase.html#a8d6e225163649e9dedf0b5543bcbc031">setOptimizationObjectiveAndThreshold</a>(<span class="keyword">const</span> std::string &objective, <span class="keywordtype">double</span> threshold)</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  {</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a9f69de97e7c0cfce7cd8e5a927591ac8">AppTypeSelector<T>::SimpleSetup::setOptimizationObjective</a>(</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a89dfe1f2357fd794486e1e4ddc3fa0b0">getOptimizationObjective</a>(this-><a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">si_</a>, objective, threshold));</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  control::DecompositionPtr allocDecomposition()</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  {</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">return</span> <a class="code" href="namespaceompl_1_1app.html#a5c9ad850b4bf26d1c6f1bd48b4bddb79">ompl::app::allocDecomposition</a>(<a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html#aa2c3731d645925949b46aa7994a8df01">AppTypeSelector<T>::SimpleSetup::getStateSpace</a>(),</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  mtype_, getGeometricComponentStateSpace());</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> base::State* getGeometricComponentStateInternal(<span class="keyword">const</span> base::State* state, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classompl_1_1app_1_1AppBase.html#a8d6e225163649e9dedf0b5543bcbc031"> 144</a></span>  std::string name_;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  };</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  </div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keyword">template</span><></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keyword">inline</span> AppType <a class="code" href="classompl_1_1app_1_1AppBase.html">AppBase<AppType::CONTROL>::getAppType</a>()</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  {</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">return</span> AppType::CONTROL;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  }</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> }</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_a89dfe1f2357fd794486e1e4ddc3fa0b0"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#a89dfe1f2357fd794486e1e4ddc3fa0b0">ompl::geometric::SimpleSetup::getOptimizationObjective</a></div><div class="ttdeci">const base::OptimizationObjectivePtr & getOptimizationObjective() const</div><div class="ttdoc">Get the optimization objective to use.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00198">SimpleSetup.h:198</a></div></div>
<div class="ttc" id="aclassompl_1_1app_1_1RigidBodyGeometry_html_a7725a8ba5d6559e59ed0fec797c9f82c"><div class="ttname"><a href="classompl_1_1app_1_1RigidBodyGeometry.html#a7725a8ba5d6559e59ed0fec797c9f82c">ompl::app::RigidBodyGeometry::RigidBodyGeometry</a></div><div class="ttdeci">RigidBodyGeometry(MotionModel mtype, CollisionChecker ctype)</div><div class="ttdoc">Constructor expects a state space that can represent a rigid body.</div><div class="ttdef"><b>Definition:</b> <a href="RigidBodyGeometry_8h_source.html#l00061">RigidBodyGeometry.h:61</a></div></div>
<div class="ttc" id="anamespaceompl_1_1app_html_a4eb5e3e5778337b61b7d3066eb2b9639"><div class="ttname"><a href="namespaceompl_1_1app.html#a4eb5e3e5778337b61b7d3066eb2b9639">ompl::app::MotionModel</a></div><div class="ttdeci">MotionModel</div><div class="ttdoc">Specify whether bodies are moving in 2D or bodies moving in 3D.</div><div class="ttdef"><b>Definition:</b> <a href="GeometrySpecification_8h_source.html#l00044">GeometrySpecification.h:44</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html">ompl::geometric::SimpleSetup</a></div><div class="ttdoc">Create the set of classes typically needed to solve a geometric problem.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00126">SimpleSetup.h:126</a></div></div>
<div class="ttc" id="aclassompl_1_1app_1_1AppBase_html_a8d6e225163649e9dedf0b5543bcbc031"><div class="ttname"><a href="classompl_1_1app_1_1AppBase.html#a8d6e225163649e9dedf0b5543bcbc031">ompl::app::AppBase::setOptimizationObjectiveAndThreshold</a></div><div class="ttdeci">void setOptimizationObjectiveAndThreshold(const std::string &objective, double threshold)</div><div class="ttdoc">Convenience function for the omplapp GUI. The objective can be one of: "length", "max min clearance",...</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00144">AppBase.h:144</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ScopedState_html_a055e6b97092ffbc0f5e485f661db0e49"><div class="ttname"><a href="classompl_1_1base_1_1ScopedState.html#a055e6b97092ffbc0f5e485f661db0e49">ompl::base::ScopedState::get</a></div><div class="ttdeci">StateType * get()</div><div class="ttdoc">Returns a pointer to the contained state.</div><div class="ttdef"><b>Definition:</b> <a href="ScopedState_8h_source.html#l00489">ScopedState.h:489</a></div></div>
<div class="ttc" id="aclassompl_1_1app_1_1AppBase_html"><div class="ttname"><a href="classompl_1_1app_1_1AppBase.html">ompl::app::AppBase</a></div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00060">AppBase.h:60</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_aa2c3731d645925949b46aa7994a8df01"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#aa2c3731d645925949b46aa7994a8df01">ompl::geometric::SimpleSetup::getStateSpace</a></div><div class="ttdeci">const base::StateSpacePtr & getStateSpace() const</div><div class="ttdoc">Get the current instance of the state space.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00156">SimpleSetup.h:156</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_af245005feb3c0b525e1ac5d397c8d3ff"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#af245005feb3c0b525e1ac5d397c8d3ff">ompl::geometric::SimpleSetup::setup</a></div><div class="ttdeci">virtual void setup()</div><div class="ttdoc">This method will create the necessary classes for planning. The solve() method will call this functio...</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2src_2SimpleSetup_8cpp_source.html#l00054">SimpleSetup.cpp:54</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1SimpleSetup_html"><div class="ttname"><a href="classompl_1_1control_1_1SimpleSetup.html">ompl::control::SimpleSetup</a></div><div class="ttdoc">Create the set of classes typically needed to solve a control problem.</div><div class="ttdef"><b>Definition:</b> <a href="control_2SimpleSetup_8h_source.html#l00126">SimpleSetup.h:126</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_a9f69de97e7c0cfce7cd8e5a927591ac8"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#a9f69de97e7c0cfce7cd8e5a927591ac8">ompl::geometric::SimpleSetup::setOptimizationObjective</a></div><div class="ttdeci">void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)</div><div class="ttdoc">Set the optimization objective to use.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00239">SimpleSetup.h:239</a></div></div>
<div class="ttc" id="astructompl_1_1app_1_1AppTypeSelector_html"><div class="ttname"><a href="structompl_1_1app_1_1AppTypeSelector.html">ompl::app::AppTypeSelector</a></div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00046">AppBase.h:46</a></div></div>
<div class="ttc" id="anamespaceompl_1_1app_html_a5c9ad850b4bf26d1c6f1bd48b4bddb79"><div class="ttname"><a href="namespaceompl_1_1app.html#a5c9ad850b4bf26d1c6f1bd48b4bddb79">ompl::app::allocDecomposition</a></div><div class="ttdeci">control::DecompositionPtr allocDecomposition(const base::StateSpacePtr &space, MotionModel mtype, const base::StateSpacePtr &gspace)</div><div class="ttdoc">Allocate a default 2D/3D grid decomposition (depending on the MotionModel) for use with the SyclopEST...</div><div class="ttdef"><b>Definition:</b> <a href="appUtil_8cpp_source.html#l00245">appUtil.cpp:245</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_a769e167e2959b1ca59fc9b3ea2416f45"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#a769e167e2959b1ca59fc9b3ea2416f45">ompl::geometric::SimpleSetup::si_</a></div><div class="ttdeci">base::SpaceInformationPtr si_</div><div class="ttdoc">The created space information.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00346">SimpleSetup.h:346</a></div></div>
<div class="ttc" id="aclassompl_1_1app_1_1RigidBodyGeometry_html_a0c2e87c6f133d7cd2918d9856b215d22"><div class="ttname"><a href="classompl_1_1app_1_1RigidBodyGeometry.html#a0c2e87c6f133d7cd2918d9856b215d22">ompl::app::RigidBodyGeometry::allocStateValidityChecker</a></div><div class="ttdeci">const base::StateValidityCheckerPtr & allocStateValidityChecker(const base::SpaceInformationPtr &si, const GeometricStateExtractor &se, bool selfCollision)</div><div class="ttdoc">Allocate default state validity checker using FCL.</div><div class="ttdef"><b>Definition:</b> <a href="RigidBodyGeometry_8cpp_source.html#l00197">RigidBodyGeometry.cpp:197</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ScopedState_html"><div class="ttname"><a href="classompl_1_1base_1_1ScopedState.html">ompl::base::ScopedState</a></div><div class="ttdoc">Definition of a scoped state.</div><div class="ttdef"><b>Definition:</b> <a href="ScopedState_8h_source.html#l00120">ScopedState.h:120</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_ad8c8d2305ea06c82eb9f60df180a8e5b"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#ad8c8d2305ea06c82eb9f60df180a8e5b">ompl::geometric::SimpleSetup::getStateValidityChecker</a></div><div class="ttdeci">const base::StateValidityCheckerPtr & getStateValidityChecker() const</div><div class="ttdoc">Get the current instance of the state validity checker.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00162">SimpleSetup.h:162</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_ab1dc047ae0b70d3492d7e222f56d83a7"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#ab1dc047ae0b70d3492d7e222f56d83a7">ompl::geometric::SimpleSetup::addStartState</a></div><div class="ttdeci">void addStartState(const base::ScopedState<> &state)</div><div class="ttdoc">Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00250">SimpleSetup.h:250</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html_aa520304e2c0b0c6574404f7045bacb85"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html#aa520304e2c0b0c6574404f7045bacb85">ompl::geometric::SimpleSetup::getProblemDefinition</a></div><div class="ttdeci">const base::ProblemDefinitionPtr & getProblemDefinition() const</div><div class="ttdoc">Get the current instance of the problem definition.</div><div class="ttdef"><b>Definition:</b> <a href="geometric_2SimpleSetup_8h_source.html#l00144">SimpleSetup.h:144</a></div></div>
<div class="ttc" id="aclassompl_1_1app_1_1AppBase_html_a8fb5fb05c9b2d0b6224888db32a1b6f6"><div class="ttname"><a href="classompl_1_1app_1_1AppBase.html#a8fb5fb05c9b2d0b6224888db32a1b6f6">ompl::app::AppBase::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">This method will create the necessary classes for planning. The solve() method will call this functio...</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00114">AppBase.h:114</a></div></div>
<div class="ttc" id="aclassompl_1_1app_1_1RigidBodyGeometry_html_abd74d6c1e427f0ea15639bd2e272edac"><div class="ttname"><a href="classompl_1_1app_1_1RigidBodyGeometry.html#abd74d6c1e427f0ea15639bd2e272edac">ompl::app::RigidBodyGeometry::factor_</a></div><div class="ttdeci">double factor_</div><div class="ttdoc">The factor to multiply inferred environment bounds by (default 1)</div><div class="ttdef"><b>Definition:</b> <a href="RigidBodyGeometry_8h_source.html#l00183">RigidBodyGeometry.h:183</a></div></div>
<div class="ttc" id="aclassompl_1_1app_1_1RigidBodyGeometry_html_a0478e6dc78c1a6979a7a40c9a197b598"><div class="ttname"><a href="classompl_1_1app_1_1RigidBodyGeometry.html#a0478e6dc78c1a6979a7a40c9a197b598">ompl::app::RigidBodyGeometry::add_</a></div><div class="ttdeci">double add_</div><div class="ttdoc">The value to add to inferred environment bounds (default 0)</div><div class="ttdef"><b>Definition:</b> <a href="RigidBodyGeometry_8h_source.html#l00186">RigidBodyGeometry.h:186</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
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