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<div class="title">ConstrainedPlanningCommon.py</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">#!/usr/bin/env python</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"># Author: Mark Moll</span></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">from</span> __future__ <span class="keyword">import</span> print_function</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keywordflow">try</span>:</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">from</span> ompl <span class="keyword">import</span> util <span class="keyword">as</span> ou</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">from</span> ompl <span class="keyword">import</span> base <span class="keyword">as</span> ob</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">from</span> ompl <span class="keyword">import</span> geometric <span class="keyword">as</span> og</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">from</span> ompl <span class="keyword">import</span> tools <span class="keyword">as</span> ot</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keywordflow">except</span> ImportError:</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="comment"># if the ompl module is not in the PYTHONPATH assume it is installed in a</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="comment"># subdirectory of the parent directory called "py-bindings."</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">from</span> os.path <span class="keyword">import</span> abspath, dirname, join</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keyword">import</span> sys</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  sys.path.insert(</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  0, join(dirname(dirname(dirname(abspath(__file__)))), <span class="stringliteral">'py-bindings'</span>))</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">from</span> ompl <span class="keyword">import</span> util <span class="keyword">as</span> ou</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">from</span> ompl <span class="keyword">import</span> base <span class="keyword">as</span> ob</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">from</span> ompl <span class="keyword">import</span> geometric <span class="keyword">as</span> og</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">from</span> ompl <span class="keyword">import</span> tools <span class="keyword">as</span> ot</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">import</span> datetime</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </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">def </span>addSpaceOption(parser):</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  parser.add_argument(<span class="stringliteral">"-s"</span>, <span class="stringliteral">"--space"</span>, default=<span class="stringliteral">"PJ"</span>,</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  choices=[<span class="stringliteral">"PJ"</span>, <span class="stringliteral">"AT"</span>, <span class="stringliteral">"TB"</span>],</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  help=<span class="stringliteral">"""Choose which constraint handling methodology to use. One of:</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="stringliteral"> PJ - Projection (Default)</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="stringliteral"> AT - Atlas</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="stringliteral"> TB - Tangent Bundle."""</span>)</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </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">def </span>addPlannerOption(parser):</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  parser.add_argument(<span class="stringliteral">"-p"</span>, <span class="stringliteral">"--planner"</span>, default=<span class="stringliteral">"RRT"</span>,</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  help=<span class="stringliteral">"Comma-separated list of which motion planner to use (multiple if "</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="stringliteral">"benchmarking, one if planning).\n Choose from, e.g.:\n"</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="stringliteral">"RRT (Default), RRTConnect, RRTstar, "</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="stringliteral">"EST, BiEST, ProjEST, "</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="stringliteral">"BITstar, "</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="stringliteral">"PRM, SPARS, "</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="stringliteral">"KPIECE1, BKPIECE1."</span>)</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </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> <span class="keyword">def </span>addConstrainedOptions(parser):</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  group = parser.add_argument_group(<span class="stringliteral">"Constrained planning options"</span>)</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  group.add_argument(<span class="stringliteral">"-d"</span>, <span class="stringliteral">"--delta"</span>, type=float, default=ob.CONSTRAINED_STATE_SPACE_DELTA,</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  help=<span class="stringliteral">"Step-size for discrete geodesic on manifold."</span>)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  group.add_argument(<span class="stringliteral">"--lambda"</span>, type=float, dest=<span class="stringliteral">"lambda_"</span>, metavar=<span class="stringliteral">"LAMBDA"</span>,</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  default=ob.CONSTRAINED_STATE_SPACE_LAMBDA,</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  help=<span class="stringliteral">"Maximum `wandering` allowed during atlas traversal. Must be greater "</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="stringliteral">"than 1."</span>)</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  group.add_argument(<span class="stringliteral">"--tolerance"</span>, type=float, default=ob.CONSTRAINT_PROJECTION_TOLERANCE,</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  help=<span class="stringliteral">"Constraint satisfaction tolerance."</span>)</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  group.add_argument(<span class="stringliteral">"--time"</span>, type=float, default=5.,</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  help=<span class="stringliteral">"Planning time allowed."</span>)</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  group.add_argument(<span class="stringliteral">"--tries"</span>, type=int, default=ob.CONSTRAINT_PROJECTION_MAX_ITERATIONS,</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  help=<span class="stringliteral">"Maximum number sample tries per sample."</span>)</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  group.add_argument(<span class="stringliteral">"-r"</span>, <span class="stringliteral">"--range"</span>, type=float, default=0.,</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  help=<span class="stringliteral">"Planner `range` value for planners that support this parameter. "</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="stringliteral">"Automatically determined otherwise (when 0)."</span>)</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> <span class="keyword">def </span>list2vec(l):</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  ret = ou.vectorDouble()</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">for</span> e <span class="keywordflow">in</span> l:</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  ret.append(e)</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">return</span> ret</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">def </span>clearSpaceAndPlanner(planner):</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  planner.getSpaceInformation().getStateSpace().clear()</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  planner.clear()</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> <span class="keyword">def </span>addAtlasOptions(parser):</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  group = parser.add_argument_group(<span class="stringliteral">"Atlas options"</span>)</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  group.add_argument(<span class="stringliteral">"--epsilon"</span>, type=float, default=ob.ATLAS_STATE_SPACE_EPSILON,</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  help=<span class="stringliteral">"Maximum distance from an atlas chart to the manifold. Must be "</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="stringliteral">"positive."</span>)</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  group.add_argument(<span class="stringliteral">"--rho"</span>, type=float, default=ob.CONSTRAINED_STATE_SPACE_DELTA *</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  ob.ATLAS_STATE_SPACE_RHO_MULTIPLIER,</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  help=<span class="stringliteral">"Maximum radius for an atlas chart. Must be positive."</span>)</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  group.add_argument(<span class="stringliteral">"--exploration"</span>, type=float, default=ob.ATLAS_STATE_SPACE_EXPLORATION,</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  help=<span class="stringliteral">"Value in [0, 1] which tunes balance of refinement and exploration in "</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="stringliteral">"atlas sampling."</span>)</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  group.add_argument(<span class="stringliteral">"--alpha"</span>, type=float, default=ob.ATLAS_STATE_SPACE_ALPHA,</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  help=<span class="stringliteral">"Maximum angle between an atlas chart and the manifold. Must be in "</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="stringliteral">"[0, PI/2]."</span>)</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  group.add_argument(<span class="stringliteral">"--bias"</span>, action=<span class="stringliteral">"store_true"</span>,</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  help=<span class="stringliteral">"Sets whether the atlas should use frontier-biased chart sampling "</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="stringliteral">"rather than uniform."</span>)</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  group.add_argument(<span class="stringliteral">"--no-separate"</span>, action=<span class="stringliteral">"store_true"</span>,</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  help=<span class="stringliteral">"Sets that the atlas should not compute chart separating halfspaces."</span>)</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  group.add_argument(<span class="stringliteral">"--charts"</span>, type=int, default=ob.ATLAS_STATE_SPACE_MAX_CHARTS_PER_EXTENSION,</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  help=<span class="stringliteral">"Maximum number of atlas charts that can be generated during one "</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="stringliteral">"manifold traversal."</span>)</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html"> 132</a></span> <span class="keyword">class </span><a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html">ConstrainedProblem</a>(object):</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>  <span class="keyword">def </span>__init__(self, spaceType, space, constraint, options):</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> = spaceType</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a5489a141148e7ac58ee2c4c7a8ae93c1">space</a> = space</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a64468adbf519a5a8b678fb12847a15ea">constraint</a> = constraint</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a64468adbf519a5a8b678fb12847a15ea">constraint</a>.setTolerance(options.tolerance)</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a64468adbf519a5a8b678fb12847a15ea">constraint</a>.setMaxIterations(options.tries)</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ac9514fafa9384115aaeb61aa2d10c8bf">options</a> = options</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a> = <span class="keywordtype">None</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">request</a> = <span class="keywordtype">None</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ad390466d73097d6e98ae3b9172e4084f">pp</a> = <span class="keywordtype">None</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">if</span> spaceType == <span class="stringliteral">"PJ"</span>:</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  ou.OMPL_INFORM(<span class="stringliteral">"Using Projection-Based State Space!"</span>)</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a> = <a class="code" href="classompl_1_1base_1_1ProjectedStateSpace.html">ob.ProjectedStateSpace</a>(space, constraint)</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a0002b9c51d6684b41308cc98715a35cb">csi</a> = <a class="code" href="classompl_1_1base_1_1ConstrainedSpaceInformation.html">ob.ConstrainedSpaceInformation</a>(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>)</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">elif</span> spaceType == <span class="stringliteral">"AT"</span>:</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  ou.OMPL_INFORM(<span class="stringliteral">"Using Atlas-Based State Space!"</span>)</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a> = <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html">ob.AtlasStateSpace</a>(space, constraint)</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a0002b9c51d6684b41308cc98715a35cb">csi</a> = <a class="code" href="classompl_1_1base_1_1ConstrainedSpaceInformation.html">ob.ConstrainedSpaceInformation</a>(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>)</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">elif</span> spaceType == <span class="stringliteral">"TB"</span>:</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  ou.OMPL_INFORM(<span class="stringliteral">"Using Tangent Bundle-Based State Space!"</span>)</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a> = <a class="code" href="classompl_1_1base_1_1TangentBundleStateSpace.html">ob.TangentBundleStateSpace</a>(space, constraint)</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a0002b9c51d6684b41308cc98715a35cb">csi</a> = <a class="code" href="classompl_1_1base_1_1TangentBundleSpaceInformation.html">ob.TangentBundleSpaceInformation</a>(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>)</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setup()</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setDelta(options.delta)</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setLambda(options.lambda_)</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">if</span> <span class="keywordflow">not</span> spaceType == <span class="stringliteral">"PJ"</span>:</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setExploration(options.exploration)</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setEpsilon(options.epsilon)</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setRho(options.rho)</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setAlpha(options.alpha)</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setMaxChartsPerExtension(options.charts)</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">if</span> options.bias:</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setBiasFunction(<span class="keyword">lambda</span> c, atlas=self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>:</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  atlas.getChartCount() - c.getNeighborCount() + 1.)</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">if</span> spaceType == <span class="stringliteral">"AT"</span>:</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setSeparated(<span class="keywordflow">not</span> options.no_separate)</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.setup()</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a> = <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html">og.SimpleSetup</a>(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a0002b9c51d6684b41308cc98715a35cb">csi</a>)</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keyword">def </span>setStartAndGoalStates(self, start, goal):</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="comment"># Create start and goal states</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> == <span class="stringliteral">"AT"</span> <span class="keywordflow">or</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> == <span class="stringliteral">"TB"</span>:</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.anchorChart(start())</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.anchorChart(goal())</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment"># Setup problem</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a>.setStartAndGoalStates(start, goal)</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keyword">def </span>getPlanner(self, plannerName, projectionName=None):</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  planner = eval(<span class="stringliteral">'og.%s(self.csi)'</span> % plannerName)</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">try</span>:</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">if</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ac9514fafa9384115aaeb61aa2d10c8bf">options</a>.range == 0:</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">if</span> <span class="keywordflow">not</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> == <span class="stringliteral">"PJ"</span>:</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  planner.setRange(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.getRho_s())</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">else</span>:</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  planner.setRange(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ac9514fafa9384115aaeb61aa2d10c8bf">options</a>.range)</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordflow">except</span>:</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">pass</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">try</span>:</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">if</span> projectionName:</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  planner.setProjectionEvaluator(projectionName)</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordflow">except</span>:</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">pass</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordflow">return</span> planner</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keyword">def </span>setPlanner(self, plannerName, projectionName=None):</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ad390466d73097d6e98ae3b9172e4084f">pp</a> = self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ae0c726ba5172f3fe11d5f52f97eaef3b">getPlanner</a>(plannerName, projectionName)</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a>.setPlanner(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ad390466d73097d6e98ae3b9172e4084f">pp</a>)</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  </div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keyword">def </span>solveOnce(self, output=False, name="ompl"):</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a>.setup()</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  stat = self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a>.solve(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ac9514fafa9384115aaeb61aa2d10c8bf">options</a>.time)</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">if</span> stat:</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="comment"># Get solution and validate</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  path = self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a>.getSolutionPath()</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">if</span> <span class="keywordflow">not</span> path.check():</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  ou.OMPL_WARN(<span class="stringliteral">"Path fails check!"</span>)</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  </div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">if</span> stat == ob.PlannerStatus.APPROXIMATE_SOLUTION:</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  ou.OMPL_WARN(<span class="stringliteral">"Solution is approximate."</span>)</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="comment"># Simplify solution and validate simplified solution path.</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  ou.OMPL_INFORM(<span class="stringliteral">"Simplifying solution..."</span>)</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a>.simplifySolution(5.)</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  simplePath = self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a>.getSolutionPath()</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  ou.OMPL_INFORM(<span class="stringliteral">"Simplified Path Length: %.3f -> %.3f"</span> %</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  (path.length(), simplePath.length()))</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">if</span> <span class="keywordflow">not</span> simplePath.check():</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  ou.OMPL_WARN(<span class="stringliteral">"Simplified path fails check!"</span>)</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  </div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="comment"># Interpolate and validate interpolated solution path.</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  ou.OMPL_INFORM(<span class="stringliteral">"Interpolating path..."</span>)</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  path.interpolate()</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keywordflow">if</span> <span class="keywordflow">not</span> path.check():</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  ou.OMPL_WARN(<span class="stringliteral">"Interpolated simplified path fails check!"</span>)</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  ou.OMPL_INFORM(<span class="stringliteral">"Interpolating simplified path..."</span>)</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  simplePath.interpolate()</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordflow">if</span> <span class="keywordflow">not</span> simplePath.check():</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  ou.OMPL_WARN(<span class="stringliteral">"Interpolated simplified path fails check!"</span>)</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">if</span> output:</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  ou.OMPL_INFORM(<span class="stringliteral">"Dumping path to `%s_path.txt`."</span> % name)</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keyword">with</span> open(<span class="stringliteral">'%s_path.txt'</span> % name, <span class="stringliteral">'w'</span>) <span class="keyword">as</span> pathfile:</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  print(path.printAsMatrix, file=pathfile)</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  ou.OMPL_INFORM(</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="stringliteral">"Dumping simplified path to `%s_simplepath.txt`."</span> % name)</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keyword">with</span> open(<span class="stringliteral">"%s_simplepath.txt"</span> % name, <span class="stringliteral">'w'</span>) <span class="keyword">as</span> simplepathfile:</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  print(simplePath.printAsMatrix(), file=simplepathfile)</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordflow">else</span>:</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  ou.OMPL_WARN(<span class="stringliteral">"No solution found."</span>)</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">return</span> stat</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  </div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keyword">def </span>setupBenchmark(self, planners, problem):</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a> = <a class="code" href="classompl_1_1tools_1_1Benchmark.html">ot.Benchmark</a>(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ss</a>, problem)</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.addExperimentParameter(</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="stringliteral">"n"</span>, <span class="stringliteral">"INTEGER"</span>, str(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a64468adbf519a5a8b678fb12847a15ea">constraint</a>.getAmbientDimension()))</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.addExperimentParameter(</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="stringliteral">"k"</span>, <span class="stringliteral">"INTEGER"</span>, str(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a64468adbf519a5a8b678fb12847a15ea">constraint</a>.getManifoldDimension()))</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.addExperimentParameter(</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="stringliteral">"n - k"</span>, <span class="stringliteral">"INTEGER"</span>, str(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a64468adbf519a5a8b678fb12847a15ea">constraint</a>.getCoDimension()))</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.addExperimentParameter(<span class="stringliteral">"space"</span>, <span class="stringliteral">"INTEGER"</span>, self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a>)</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  </div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">request</a> = ot.Benchmark.Request()</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">request</a>.maxTime = self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ac9514fafa9384115aaeb61aa2d10c8bf">options</a>.time</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">request</a>.maxMem = 1e9</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">request</a>.runCount = 100</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">request</a>.timeBetweenUpdates = 0.1</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">request</a>.saveConsoleOutput = <span class="keyword">False</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordflow">for</span> planner <span class="keywordflow">in</span> planners:</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.addPlanner(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ae0c726ba5172f3fe11d5f52f97eaef3b">getPlanner</a>(planner, problem))</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  </div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.setPreRunEvent(ot.PreSetupEvent(clearSpaceAndPlanner))</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  </div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keyword">def </span>runBenchmark(self):</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.benchmark(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">request</a>)</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  filename = str(datetime.datetime.now()) + <span class="stringliteral">'_'</span> + \</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.getExperimentName() + <span class="stringliteral">'_'</span> + self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a></div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">bench</a>.saveResultsToFile(filename)</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keyword">def </span>atlasStats(self):</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="comment"># For atlas types, output information about size of atlas and amount of</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="comment"># space explored</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordflow">if</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> == <span class="stringliteral">"AT"</span> <span class="keywordflow">or</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> == <span class="stringliteral">"TB"</span>:</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  ou.OMPL_INFORM(<span class="stringliteral">"Atlas has %d charts"</span> % self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.getChartCount())</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordflow">if</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> == <span class="stringliteral">"AT"</span>:</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  ou.OMPL_INFORM(<span class="stringliteral">"Atlas is approximately %.3f%% open"</span> %</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.estimateFrontierPercent())</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  </div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keyword">def </span>dumpGraph(self, name):</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  ou.OMPL_INFORM(<span class="stringliteral">"Dumping planner graph to `%s_graph.graphml`."</span> % name)</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  data = <a class="code" href="classompl_1_1base_1_1PlannerData.html">ob.PlannerData</a>(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a0002b9c51d6684b41308cc98715a35cb">csi</a>)</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ad390466d73097d6e98ae3b9172e4084f">pp</a>.getPlannerData(data)</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  </div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keyword">with</span> open(<span class="stringliteral">"%s_graph.graphml"</span> % name, <span class="stringliteral">"w"</span>) <span class="keyword">as</span> graphfile:</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  print(data.printGraphML(), file=graphfile)</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  </div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keywordflow">if</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> == <span class="stringliteral">"AT"</span> <span class="keywordflow">or</span> self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">spaceType</a> == <span class="stringliteral">"TB"</span>:</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  ou.OMPL_INFORM(<span class="stringliteral">"Dumping atlas to `%s_atlas.ply`."</span> % name)</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keyword">with</span> open(<span class="stringliteral">"%s_atlas.ply"</span> % name, <span class="stringliteral">"w"</span>) <span class="keyword">as</span> atlasfile:</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  print(self.<a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">css</a>.printPLY(), file=atlasfile)</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_a00655a299b357d7e0493f82731c19af8"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a00655a299b357d7e0493f82731c19af8">ConstrainedPlanningCommon.ConstrainedProblem.bench</a></div><div class="ttdeci">bench</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00141">ConstrainedPlanningCommon.py:141</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_a5489a141148e7ac58ee2c4c7a8ae93c1"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a5489a141148e7ac58ee2c4c7a8ae93c1">ConstrainedPlanningCommon.ConstrainedProblem.space</a></div><div class="ttdeci">space</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00136">ConstrainedPlanningCommon.py:136</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_a450912659b679888a9bb9573b83e2415"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a450912659b679888a9bb9573b83e2415">ConstrainedPlanningCommon.ConstrainedProblem.request</a></div><div class="ttdeci">request</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00142">ConstrainedPlanningCommon.py:142</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="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_ad390466d73097d6e98ae3b9172e4084f"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ad390466d73097d6e98ae3b9172e4084f">ConstrainedPlanningCommon.ConstrainedProblem.pp</a></div><div class="ttdeci">pp</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00143">ConstrainedPlanningCommon.py:143</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html">ompl::base::AtlasStateSpace</a></div><div class="ttdoc">ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00159">AtlasStateSpace.h:159</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedSpaceInformation_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedSpaceInformation.html">ompl::base::ConstrainedSpaceInformation</a></div><div class="ttdoc">Space information for a constrained state space. Implements more direct for getting motion states.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedSpaceInformation_8h_source.html#l00173">ConstrainedSpaceInformation.h:173</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_ae0c726ba5172f3fe11d5f52f97eaef3b"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ae0c726ba5172f3fe11d5f52f97eaef3b">ConstrainedPlanningCommon.ConstrainedProblem.getPlanner</a></div><div class="ttdeci">def getPlanner(self, plannerName, projectionName=None)</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00184">ConstrainedPlanningCommon.py:184</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html">ConstrainedPlanningCommon.ConstrainedProblem</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00132">ConstrainedPlanningCommon.py:132</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_ac9514fafa9384115aaeb61aa2d10c8bf"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#ac9514fafa9384115aaeb61aa2d10c8bf">ConstrainedPlanningCommon.ConstrainedProblem.options</a></div><div class="ttdeci">options</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00140">ConstrainedPlanningCommon.py:140</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html">ompl::tools::Benchmark</a></div><div class="ttdoc">Benchmark a set of planners on a problem instance.</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00112">Benchmark.h:112</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_a64468adbf519a5a8b678fb12847a15ea"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a64468adbf519a5a8b678fb12847a15ea">ConstrainedPlanningCommon.ConstrainedProblem.constraint</a></div><div class="ttdeci">constraint</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00137">ConstrainedPlanningCommon.py:137</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_aeca6215f8038c2e8aebae804bfebe92a"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#aeca6215f8038c2e8aebae804bfebe92a">ConstrainedPlanningCommon.ConstrainedProblem.css</a></div><div class="ttdeci">css</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00147">ConstrainedPlanningCommon.py:147</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProjectedStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1ProjectedStateSpace.html">ompl::base::ProjectedStateSpace</a></div><div class="ttdoc">ConstrainedStateSpace encapsulating a projection-based methodology for planning with constraints.</div><div class="ttdef"><b>Definition:</b> <a href="ProjectedStateSpace_8h_source.html#l00166">ProjectedStateSpace.h:166</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_a29d787e05f313d3c2f13b582313cf664"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a29d787e05f313d3c2f13b582313cf664">ConstrainedPlanningCommon.ConstrainedProblem.ss</a></div><div class="ttdeci">ss</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00173">ConstrainedPlanningCommon.py:173</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_a0002b9c51d6684b41308cc98715a35cb"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a0002b9c51d6684b41308cc98715a35cb">ConstrainedPlanningCommon.ConstrainedProblem.csi</a></div><div class="ttdeci">csi</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00148">ConstrainedPlanningCommon.py:148</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1TangentBundleStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1TangentBundleStateSpace.html">ompl::base::TangentBundleStateSpace</a></div><div class="ttdoc">ConstrainedStateSpace encapsulating a planner-agnostic lazy atlas algorithm for planning on a constra...</div><div class="ttdef"><b>Definition:</b> <a href="TangentBundleStateSpace_8h_source.html#l00144">TangentBundleStateSpace.h:144</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1TangentBundleSpaceInformation_html"><div class="ttname"><a href="classompl_1_1base_1_1TangentBundleSpaceInformation.html">ompl::base::TangentBundleSpaceInformation</a></div><div class="ttdoc">Space information for a tangent bundle-based state space. Implements more direct for getting motion s...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedSpaceInformation_8h_source.html#l00218">ConstrainedSpaceInformation.h:218</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html_a2e7f207aff6b2508dbab3f0b96ad6943"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html#a2e7f207aff6b2508dbab3f0b96ad6943">ConstrainedPlanningCommon.ConstrainedProblem.spaceType</a></div><div class="ttdeci">spaceType</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00135">ConstrainedPlanningCommon.py:135</a></div></div>
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