ompl::base::AllValidStateValidityChecker | The simplest state validity checker: all states are valid |
ompl::base::CompoundState | Definition of a compound state |
ompl::base::CompoundStateSampler | Definition of a compound state sampler. This is useful to construct samplers for compound states |
ompl::base::CompoundStateSpace | A space to allow the composition of state spaces |
ompl::base::DiscreteMotionValidator | A motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution |
ompl::base::DiscreteStateSampler | State space sampler for discrete states |
ompl::base::DiscreteStateSpace | A space representing discrete states; i.e. there are a small number of discrete states the system can be in. States are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive. States do not wrap around; i.e. the distance between state lowerBound and state upperBound is upperBound-lowerBound. The dimension of the space is 1 |
ompl::base::DiscreteStateSpace::StateType | The definition of a discrete state |
ompl::base::DubinsMotionValidator | A Dubins motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution |
ompl::base::DubinsStateSpace | An SE(2) state space where distance is measured by the length of Dubins curves. Note that this Dubins distance is not a proper distance metric, so nearest neighbor methods that rely on distance() being a metric (such ompl::NearestNeighborsGNAT) will not always return the true nearest neighbors or get stuck in an infinite loop. This means that if you use any of the RRT-based planners (which use GNAT by default), you need to do the following: |
ompl::base::DubinsStateSpace::DubinsPath | Complete description of a Dubins path |
ompl::base::GaussianValidStateSampler | Generate valid samples using the Gaussian sampling strategy |
ompl::base::GenericParam | Motion planning algorithms often employ parameters to guide their exploration process. (e.g., goal biasing). Motion planners (and some of their components) use this class to declare what the parameters are, in a generic way, so that they can be set externally |
ompl::base::Goal | Abstract definition of goals. Will contain solutions, if found |
ompl::base::GoalLazySamples | Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner |
ompl::base::GoalPtr | A boost shared pointer wrapper for ompl::base::Goal |
ompl::base::GoalRegion | Definition of a goal region |
ompl::base::GoalSampleableRegion | Abstract definition of a goal region that can be sampled |
ompl::base::GoalState | Definition of a goal state |
ompl::base::GoalStates | Definition of a set of goal states |
ompl::base::MaximizeClearanceValidStateSampler | Generate valid samples randomly, but with a bias towards higher clearance |
ompl::base::MotionValidator | Abstract definition for a class checking the validity of motions -- path segments between states. This is often called a local planner. The implementation of this class must be thread safe |
ompl::base::MotionValidatorPtr | A boost shared pointer wrapper for ompl::base::MotionValidator |
ompl::base::ObstacleBasedValidStateSampler | Generate valid samples using the Bridge Test |
ompl::base::ParamSet | Maintain a set of parameters |
ompl::base::Path | Abstract definition of a path |
ompl::base::PathPtr | A boost shared pointer wrapper for ompl::base::Path |
ompl::base::Planner | Base class for a planner |
ompl::base::PlannerAlwaysTerminatingCondition | Simple termination condition that always returns true. The termination condition will always be met |
ompl::base::PlannerAndTerminationCondition | Combine two termination conditions into one. Both termination conditions need to return true for this one to return true |
ompl::base::PlannerData | Datatype holding data a planner can expose for debug purposes |
ompl::base::PlannerInputStates | Helper class to extract valid start & goal states. Usually used internally by planners |
ompl::base::PlannerNonTerminatingCondition | Simple termination condition that always returns false. The termination condition will never be met |
ompl::base::PlannerOrTerminationCondition | Combine two termination conditions into one. If either termination condition returns true, this one will return true as well |
ompl::base::PlannerPtr | A boost shared pointer wrapper for ompl::base::Planner |
ompl::base::PlannerSolution | Representation of a solution to a planning problem |
ompl::base::PlannerSpecs | Properties that planners may have |
ompl::base::PlannerTerminationCondition | Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whether they should terminate before a solution is found or not. operator() will return true if either the implemented condition is met (the call to eval() returns true) or if the user called terminate(true) |
ompl::base::PlannerThreadedTerminationCondition | Termination condition with lazy evaluation. This is just as a regular termination condition, except the condition is actually evaluated by computeEval() and the return value is stored in evalValue_. Every time eval() is called, evalValue_ is returned instead of actually evaluating the termination condition. Furthermore, the termination condition is evaluated every period_ seconds in a separate thread. The thread automatically starts when the condition is constructed and it terminates when the condition becomes true |
ompl::base::PrecomputedStateSampler | State space sampler for discrete states |
ompl::base::ProblemDefinition | Definition of a problem to be solved. This includes the start state(s) for the system and a goal specification |
ompl::base::ProblemDefinitionPtr | A boost shared pointer wrapper for ompl::base::ProblemDefinition |
ompl::base::ProjectionEvaluator | Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on this projection space by setting cell sizes. Before use, the user must supply cell sizes for the integer grid (setCellSizes()). The implementation of this class is thread safe |
ompl::base::ProjectionEvaluatorPtr | A boost shared pointer wrapper for ompl::base::ProjectionEvaluator |
ompl::base::ProjectionMatrix | A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated |
ompl::base::RealVectorBounds | The lower and upper bounds for an Rn space |
ompl::base::RealVectorIdentityProjectionEvaluator | Define the identity projection |
ompl::base::RealVectorLinearProjectionEvaluator | Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn vector state to produce an Rk projection. The multiplication matrix needs to be supplied as input |
ompl::base::RealVectorOrthogonalProjectionEvaluator | Definition for a class computing orthogonal projections |
ompl::base::RealVectorRandomLinearProjectionEvaluator | Definition for a class computing a random linear projections |
ompl::base::RealVectorStateSampler | State sampler for the Rn state space |
ompl::base::RealVectorStateSpace | A state space representing Rn. The distance function is the L2 norm |
ompl::base::RealVectorStateSpace::StateType | The definition of a state in Rn |
ompl::base::ReedsSheppMotionValidator | A Reeds-Shepp motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution |
ompl::base::ReedsSheppStateSpace | An SE(2) state space where distance is measured by the length of Reeds-Shepp curves |
ompl::base::ReedsSheppStateSpace::ReedsSheppPath | Complete description of a ReedsShepp path |
ompl::base::SamplerSelector< T > | Depending on the type of state sampler, we have different allocation routines |
ompl::base::ScopedState< T > | Definition of a scoped state |
ompl::base::SE2StateSpace | A state space representing SE(2) |
ompl::base::SE2StateSpace::StateType | A state in SE(2): (x, y, yaw) |
ompl::base::SE3StateSpace | A state space representing SE(3) |
ompl::base::SE3StateSpace::StateType | A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w) |
ompl::base::SO2StateSampler | State space sampler for SO(2) |
ompl::base::SO2StateSpace | A state space representing SO(2). The distance function and interpolation take into account angle wrapping |
ompl::base::SO2StateSpace::StateType | The definition of a state in SO(2) |
ompl::base::SO3StateSampler | State space sampler for SO(3), using quaternion representation |
ompl::base::SO3StateSpace | A state space representing SO(3). The internal representation is done with quaternions. The distance between states is the angle between quaternions and interpolation is done with slerp |
ompl::base::SO3StateSpace::StateType | The definition of a state in SO(3) represented as a unit quaternion |
ompl::base::SpaceInformation | The base class for space information. This contains all the information about the space planning is done in. setup() needs to be called as well, before use |
ompl::base::SpaceInformationPtr | A boost shared pointer wrapper for ompl::base::SpaceInformation |
ompl::base::SpecificParam< T > | This is a helper class that instantiates parameters with different data types |
ompl::base::State | Definition of an abstract state |
ompl::base::StatePropagatorPtr | A boost shared pointer wrapper for ompl::control::StatePropagator |
ompl::base::StateSampler | Abstract definition of a state space sampler |
ompl::base::StateSamplerArray< T > | Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planners |
ompl::base::StateSamplerPtr | A boost shared pointer wrapper for ompl::base::StateSampler |
ompl::base::StateSpace | Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined |
ompl::base::StateSpace::ValueLocation | Representation of the address of a value in a state. This structure stores the indexing information needed to access elements of a state (no pointer values are stored) |
ompl::base::StateSpacePtr | A boost shared pointer wrapper for ompl::base::StateSpace |
ompl::base::StateStorage | Manage loading and storing for a set of states of a specified state space |
ompl::base::StateStorage::Header | Information stored at the beginning of the archive |
ompl::base::StateStorageWithMetadata< M > | State storage that allows storing state metadata as well |
ompl::base::StateValidityChecker | Abstract definition for a class checking the validity of states. The implementation of this class must be thread safe |
ompl::base::StateValidityCheckerPtr | A boost shared pointer wrapper for ompl::base::StateValidityChecker |
ompl::base::SubSpaceProjectionEvaluator | If the projection for a CompoundStateSpace is supposed to be the same as the one for one of its included subspaces, this class facilitates selecting a projection of that subspace |
ompl::base::TimeStateSampler | State space sampler for time |
ompl::base::TimeStateSpace | A state space representing time. The time can be unbounded, in which case enforceBounds() is a no-op, satisfiesBounds() always returns true, sampling uniform time states always produces time 0 and getMaximumExtent() returns 1. If time is bounded (setBounds() has been previously called), the state space behaves as expected. After construction, the state space is unbounded. isBounded() can be used to check if the state space is bounded or not |
ompl::base::TimeStateSpace::StateType | The definition of a time state |
ompl::base::UniformValidStateSampler | A state sampler that only samples valid states, uniformly |
ompl::base::ValidStateSampler | Abstract definition of a state sampler |
ompl::base::ValidStateSamplerPtr | A boost shared pointer wrapper for ompl::base::ValidStateSampler |
ompl::BinaryHeap< _T, LessThan > | This class provides an implementation of an updatable min-heap. Using it is a bit cumbersome, as it requires keeping track of the BinaryHeap::Element* type, however, it should be as fast as it gets with an updatable heap |
ompl::BinaryHeap< _T, LessThan >::Element | When an element is added to the heap, an instance of Element* is created. This instance contains the data that was added and internal information about the position of the data in the heap's internal storage |
ompl::control::CompoundControl | Definition of a compound control |
ompl::control::CompoundControlSampler | Definition of a compound control sampler. This is useful to construct samplers for compound controls |
ompl::control::CompoundControlSpace | A control space to allow the composition of control spaces |
ompl::control::Control | Definition of an abstract control |
ompl::control::ControlSampler | Abstract definition of a control sampler. Motion planners that need to sample controls will call functions from this class. Planners should call the versions of sample() and sampleNext() with most arguments, whenever this information is available |
ompl::control::ControlSamplerPtr | A boost shared pointer wrapper for ompl::control::ControlSampler |
ompl::control::ControlSpace | A control space representing the space of applicable controls |
ompl::control::ControlSpacePtr | A boost shared pointer wrapper for ompl::control::ControlSpace |
ompl::control::Decomposition | A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers |
ompl::control::DecompositionPtr | A boost shared pointer wrapper for ompl::control::Decomposition |
ompl::control::DirectedControlSampler | Abstract definition of a directed control sampler. Motion planners that need to sample controls that take the system to a desired direction will call functions from this class. Planners should call the versions of sampleTo() with most arguments, whenever this information is available. If no direction information is available, the use of a ControlSampler is perhaps more appropriate |
ompl::control::DirectedControlSamplerPtr | A boost shared pointer wrapper for ompl::control::DirectedControlSampler |
ompl::control::DiscreteControlSampler | Control space sampler for discrete controls |
ompl::control::DiscreteControlSpace | A space representing discrete controls; i.e. there are a small number of discrete controls the system can react to. Controls are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive |
ompl::control::DiscreteControlSpace::ControlType | The definition of a discrete control |
ompl::control::EST | Expansive Space Trees |
ompl::control::EST::Motion | Representation of a motion |
ompl::control::EST::MotionInfo | A struct containing an array of motions and a corresponding PDF element |
ompl::control::EST::TreeData | The data contained by a tree of exploration |
ompl::control::GridDecomposition | A GridDecomposition is a Decomposition implemented using a grid |
ompl::control::KPIECE1 | Kinodynamic Planning by Interior-Exterior Cell Exploration |
ompl::control::KPIECE1::CellData | The data held by a cell in the grid of motions |
ompl::control::KPIECE1::CloseSample | Information about a known good sample (closer to the goal than others) |
ompl::control::KPIECE1::CloseSamples | Bounded set of good samples |
ompl::control::KPIECE1::Motion | Representation of a motion for this algorithm |
ompl::control::KPIECE1::OrderCellsByImportance | Definintion of an operator passed to the Grid structure, to order cells by importance |
ompl::control::KPIECE1::TreeData | The data defining a tree of motions for this algorithm |
ompl::control::ODEAdaptiveSolver< Solver > | Adaptive step size solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. The maximum integration error is bounded in this approach. Solver is the numerical integration method used to solve the equations, and must implement the error stepper concept from boost::numeric::odeint. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound |
ompl::control::ODEBasicSolver< Solver > | Basic solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fourth order Runge-Kutta method. This class wraps around the simple stepper concept from boost::numeric::odeint |
ompl::control::ODEErrorSolver< Solver > | Solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound. This class wraps around the error stepper concept from boost::numeric::odeint |
ompl::control::ODESolver | Abstract base class for an object that can solve ordinary differential equations (ODE) of the type q' = f(q,u) using numerical integration. Classes deriving from this must implement the solve method. The user must supply the ODE to solve |
ompl::control::OpenDEControlSpace | Representation of controls applied in OpenDE environments. This is an array of double values |
ompl::control::OpenDEEnvironment | This class contains the OpenDE constructs OMPL needs to know about when planning |
ompl::control::OpenDEEnvironmentPtr | A boost shared pointer wrapper for ompl::control::OpenDEEnvironment |
ompl::control::OpenDESimpleSetup | Create the set of classes typically needed to solve a control problem when forward propagation is computed with OpenDE |
ompl::control::OpenDEStatePropagator | State propagation with OpenDE. Only forward propagation is possible |
ompl::control::OpenDEStateSpace | State space representing OpenDE states |
ompl::control::OpenDEStateSpace::StateType | OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for |
ompl::control::OpenDEStateValidityChecker | The simplest state validity checker: all states are valid |
ompl::control::PathControl | Definition of a control path |
ompl::control::PlannerData | Datatype holding data a planner can expose for debug purposes |
ompl::control::RealVectorControlSpace | A control space representing Rn |
ompl::control::RealVectorControlSpace::ControlType | The definition of a control in Rn |
ompl::control::RealVectorControlUniformSampler | Uniform sampler for the Rn state space |
ompl::control::RRT | Rapidly-exploring Random Tree |
ompl::control::RRT::Motion | Representation of a motion |
ompl::control::SimpleDirectedControlSampler | Implementation of a simple directed control sampler. This is a basic implementation that does not actually take direction into account and builds upon ControlSampler. Instead, a set of k random controls are sampled, and the control that gets the system closest to the target state is returned |
ompl::control::SimpleSetup | Create the set of classes typically needed to solve a control problem |
ompl::control::SimpleSetupPtr | A boost shared pointer wrapper for ompl::control::SimpleSetup |
ompl::control::SpaceInformation | Space information containing necessary information for planning with controls. setup() needs to be called before use |
ompl::control::SpaceInformationPtr | A boost shared pointer wrapper for ompl::control::SpaceInformation |
ompl::control::StatePropagator | Model the effect of controls on system states |
ompl::control::Syclop | Synergistic Combination of Layers of Planning |
ompl::control::Syclop::Adjacency | Representation of an adjacency (a directed edge) between two regions in the Decomposition assigned to Syclop |
ompl::control::Syclop::Defaults | Contains default values for Syclop parameters |
ompl::control::Syclop::Motion | Representation of a motion |
ompl::control::Syclop::Region | Representation of a region in the Decomposition assigned to Syclop |
ompl::control::SyclopEST | SyclopEST is Syclop with EST as its low-level tree planner |
ompl::control::SyclopRRT | SyclopRRT is Syclop with RRT as its low-level tree planner |
ompl::Exception | The exception type for ompl |
ompl::geometric::BallTreeRRTstar | Optimal Rapidly-exploring Random Trees with Ball Trees |
ompl::geometric::BallTreeRRTstar::Motion | Representation of a motion |
ompl::geometric::BKPIECE1 | Bi-directional KPIECE with one level of discretization |
ompl::geometric::BKPIECE1::Motion | Representation of a motion for this algorithm |
ompl::geometric::Discretization< Motion > | One-level discretization used for KPIECE |
ompl::geometric::Discretization< Motion >::CellData | The data held by a cell in the grid of motions |
ompl::geometric::Discretization< Motion >::OrderCellsByImportance | Definintion of an operator passed to the Grid structure, to order cells by importance |
ompl::geometric::EST | Expansive Space Trees |
ompl::geometric::EST::Motion | The definition of a motion |
ompl::geometric::EST::MotionInfo | A struct containing an array of motions and a corresponding PDF element |
ompl::geometric::EST::TreeData | The data contained by a tree of exploration |
ompl::geometric::GAIK | Inverse Kinematics with Genetic Algorithms |
ompl::geometric::HCIK | Inverse Kinematics with Hill Climbing |
ompl::geometric::KPIECE1 | Kinematic Planning by Interior-Exterior Cell Exploration |
ompl::geometric::KPIECE1::Motion | Representation of a motion for this algorithm |
ompl::geometric::KStarStrategy< Milestone > | Make the minimal number of connections required to ensure asymptotic optimality |
ompl::geometric::KStrategy< Milestone > | |
ompl::geometric::LazyRRT | Lazy RRT |
ompl::geometric::LazyRRT::Motion | Representation of a motion |
ompl::geometric::LBKPIECE1 | Lazy Bi-directional KPIECE with one level of discretization |
ompl::geometric::LBKPIECE1::Motion | Representation of a motion for this algorithm |
ompl::geometric::PathGeometric | Definition of a geometric path |
ompl::geometric::PathHybridization | Given multiple geometric paths, attempt to combine them in order to obtain a shorter solution |
ompl::geometric::PathHybridizationPtr | A boost shared pointer wrapper for ompl::geometric::PathHybridization |
ompl::geometric::PathSimplifier | This class contains routines that attempt to simplify geometric paths |
ompl::geometric::PathSimplifierPtr | A boost shared pointer wrapper for ompl::geometric::PathSimplifier |
ompl::geometric::PRM | Probabilistic RoadMap planner |
ompl::geometric::PRM::vertex_state_t | |
ompl::geometric::PRM::vertex_successful_connection_attempts_t | |
ompl::geometric::PRM::vertex_total_connection_attempts_t | |
ompl::geometric::pRRT | Parallel RRT |
ompl::geometric::pRRT::Motion | |
ompl::geometric::pRRT::SolutionInfo | |
ompl::geometric::pSBL | Parallel Single-query Bi-directional Lazy collision checking planner |
ompl::geometric::pSBL::Motion | |
ompl::geometric::pSBL::MotionInfo | A struct containing an array of motions and a corresponding PDF element |
ompl::geometric::pSBL::MotionsToBeRemoved | |
ompl::geometric::pSBL::PendingRemoveMotion | |
ompl::geometric::pSBL::SolutionInfo | |
ompl::geometric::pSBL::TreeData | |
ompl::geometric::RRT | Rapidly-exploring Random Trees |
ompl::geometric::RRT::Motion | Representation of a motion |
ompl::geometric::RRTConnect | RRT-Connect (RRTConnect) |
ompl::geometric::RRTConnect::Motion | Representation of a motion |
ompl::geometric::RRTConnect::TreeGrowingInfo | Information attached to growing a tree of motions (used internally) |
ompl::geometric::RRTstar | Optimal Rapidly-exploring Random Trees |
ompl::geometric::RRTstar::Motion | Representation of a motion |
ompl::geometric::SampleContrib | |
ompl::geometric::SBL | Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking |
ompl::geometric::SBL::Motion | Representation of a motion |
ompl::geometric::SBL::MotionInfo | A struct containing an array of motions and a corresponding PDF element |
ompl::geometric::SBL::TreeData | Representation of a search tree. Two instances will be used. One for start and one for goal |
ompl::geometric::SimpleSetup | Create the set of classes typically needed to solve a geometric problem |
ompl::geometric::SimpleSetupPtr | A boost shared pointer wrapper for ompl::geometric::SimpleSetup |
ompl::GreedyKCenters< _T > | An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other |
ompl::Grid< _T > | Representation of a simple grid |
ompl::Grid< _T >::Cell | Definition of a cell in this grid |
ompl::Grid< _T >::EqualCoordPtr | Equality operator for coordinate pointers |
ompl::Grid< _T >::HashFunCoordPtr | Hash function for coordinates |
ompl::Grid< _T >::SortComponents | Helper to sort components by size |
ompl::GridB< _T, LessThanExternal, LessThanInternal > | This class defines a grid that keeps track of its boundary: it distinguishes between interior and exterior cells |
ompl::GridB< _T, LessThanExternal, LessThanInternal >::LessThanExternalCell | Define order for external cells |
ompl::GridB< _T, LessThanExternal, LessThanInternal >::LessThanInternalCell | Define order for internal cells |
ompl::GridN< _T > | Representation of a grid where cells keep track of how many neighbors they have |
ompl::GridN< _T >::Cell | Definition of a cell in this grid |
ompl::msg::Interface | The piece of code that desires interaction with an action or an output handler should use an instance of this class. This class connects to the active OutputHandler (if any) and forwards messages |
ompl::msg::OutputHandler | Generic class to handle output from a piece of code |
ompl::msg::OutputHandlerFile | Implementation of OutputHandler that saves messages in a file |
ompl::msg::OutputHandlerSTD | Default implementation of OutputHandler. This sends the information to the console |
ompl::NearestNeighbors< _T > | Abstract representation of a container that can perform nearest neighbors queries |
ompl::NearestNeighborsGNAT< _T > | Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search |
ompl::NearestNeighborsGNAT< _T >::Node | The class used internally to define the GNAT |
ompl::NearestNeighborsLinear< _T > | A nearest neighbors datastructure that uses linear search |
ompl::NearestNeighborsSqrtApprox< _T > | A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) elements only. (Every sqrt(n) elements are skipped) |
ompl::PDF< _T > | A container that supports probabilistic sampling over weighted data |
ompl::PDF< _T >::Element | A class that will hold data contained in the PDF |
ompl::RNG | Random number generation. An instance of this class cannot be used by multiple threads at once (member functions are not const). However, the constructor is thread safe and different instances can be used safely in any number of threads. It is also guaranteed that all created instances will have a different random seed |
ompl::tools::Benchmark | Benchmark a set of planners on a problem instance |
ompl::tools::Benchmark::CompleteExperiment | This structure holds experimental data for a set of planners |
ompl::tools::Benchmark::PlannerExperiment | The data collected after running a planner multiple times |
ompl::tools::Benchmark::Request | Representation of a benchmark request |
ompl::tools::Benchmark::Status | This structure contains information about the activity of a benchmark instance. If the instance is running, it is possible to find out information such as which planner is currently being tested or how much |
ompl::tools::OptimizePlan | Run one or more motion planners repeatedly (using a specified number of threads), and hybridize solutions, trying to optimize solutions |
ompl::tools::ParallelPlan | This is a utility that allows executing multiple planners in parallel, until one or more find a solution. Optionally, the results are automatically hybridized using ompl::geometric::PathHybridization. Between calls to solve(), the set of known solutions (maintained by ompl::base::Goal) are not cleared, and neither is the hybridization datastructure |
ompl::tools::Profiler | This is a simple thread-safe tool for counting time spent in various chunks of code. This is different from external profiling tools in that it allows the user to count time spent in various bits of code (sub-function granularity) or count how many times certain pieces of code are executed |
ompl::tools::Profiler::ScopedBlock | This instance will call Profiler::begin() when constructed and Profiler::end() when it goes out of scope |
ompl::tools::Profiler::ScopedStart | This instance will call Profiler::start() when constructed and Profiler::stop() when it goes out of scope. If the profiler was already started, this block's constructor and destructor take no action |
ompl::tools::SelfConfig | This class contains methods that automatically configure various parameters for motion planning. If expensive computation is performed, the results are cached |