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SelfConfig.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_SELF_CONFIG_
38 #define OMPL_TOOLS_SELF_CONFIG_
39 
40 #include "ompl/config.h"
41 #include "ompl/base/SpaceInformation.h"
42 #include <iostream>
43 #include <string>
44 
45 namespace ompl
46 {
48  namespace tools
49  {
50 
54  class SelfConfig
55  {
56  public:
57 
61  SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());
62 
64  double getProbabilityOfValidState(void);
65 
67  double getAverageValidMotionLength(void);
68 
73 
77  void configureValidStateSamplingAttempts(unsigned int &attempts);
78 
80  void configurePlannerRange(double &range);
81 
83  void print(std::ostream &out = std::cout) const;
84 
85  private:
86 
88  class SelfConfigImpl;
89 
90  SelfConfigImpl *impl_;
91  std::string context_;
93  };
94  }
95 }
96 
97 #endif