aikido::planner::ompl Namespace Reference

Classes
class	CRRT
	Implements a constrained RRT planner. More...
class	CRRTConnect
	Implements a bi-direction constrained RRT planner. More...
class	GeometricStateSpace
	Wraps an aikido StateSpace into a space recognized by OMPL. More...
class	GoalRegion
	Exposes a Testable/Sampleable constraint pair as a goal to OMPL planners. More...
class	MotionValidator
	Implement an OMPL MotionValidator. More...
class	OMPLConfigurationToConfigurationPlanner
	Creates an OMPL Planner. More...
class	StateSampler
	Wraps an aikido::constraint::SampleGenerator in a ompl::base::StateSampler. More...
class	StateValidityChecker
	Expose a set of aikido::constraint::Testable class as a StateValidityChecker to the OMPL framework. More...

Typedefs
template<class T >
using	ompl_shared_ptr = boost::shared_ptr< T >
template<class T >
using	ompl_weak_ptr = boost::weak_ptr< T >
using	GeometricStateSpacePtr = std::shared_ptr< GeometricStateSpace >
using	ConstGeometricStateSpacePtr = std::shared_ptr< const GeometricStateSpace >
using	WeakGeometricStateSpacePtr = std::weak_ptr< GeometricStateSpace >
using	WeakConstGeometricStateSpacePtr = std::weak_ptr< const GeometricStateSpace >
using	UniqueGeometricStateSpacePtr = std::unique_ptr< GeometricStateSpace >
using	UniqueConstGeometricStateSpacePtr = std::unique_ptr< const GeometricStateSpace >

Functions
template<class T , class... Args>
ompl_shared_ptr< T >	ompl_make_shared (Args &&... args)
template<class T , class U >
ompl_shared_ptr< T >	ompl_dynamic_pointer_cast (const ompl_shared_ptr< U > &r)
template<class T , class U >
ompl_shared_ptr< T >	ompl_static_pointer_cast (const ompl_shared_ptr< U > &r)
template<class F , class... Args>
auto	ompl_bind (F &&f, Args &&... args) -> decltype(boost::bind(std::forward< F >(f), std::forward< Args >(args)...))
::ompl::base::SpaceInformationPtr	createSpaceInformation (statespace::dart::MetaSkeletonStateSpacePtr _stateSpace, constraint::TestablePtr _validityConstraint, double _maxDistanceBtwValidityChecks, std::unique_ptr< common::RNG > _rng)
	Create a SpaceInformation by constructing default bounds constraints and metrics for the given robot. More...
template<class PlannerType >
trajectory::InterpolatedPtr	planOMPL (const statespace::StateSpace::State *_start, const statespace::StateSpace::State *_goal, statespace::ConstStateSpacePtr _stateSpace, statespace::InterpolatorPtr _interpolator, distance::DistanceMetricPtr _dmetric, constraint::SampleablePtr _sampler, constraint::TestablePtr _validityConstraint, constraint::TestablePtr _boundsConstraint, constraint::ProjectablePtr _boundsProjector, double _maxPlanTime, double _maxDistanceBtwValidityChecks)
	Use the template OMPL Planner type to plan a trajectory that moves from the start to the goal point. More...
template<class PlannerType >
trajectory::InterpolatedPtr	planOMPL (const statespace::StateSpace::State *_start, constraint::TestablePtr _goalTestable, constraint::SampleablePtr _goalSampler, statespace::ConstStateSpacePtr _stateSpace, statespace::InterpolatorPtr _interpolator, distance::DistanceMetricPtr _dmetric, constraint::SampleablePtr _sampler, constraint::TestablePtr _validityConstraint, constraint::TestablePtr _boundsConstraint, constraint::ProjectablePtr _boundsProjector, double _maxPlanTime, double _maxDistanceBtwValidityChecks)
	Use the template OMPL Planner type to plan a trajectory that moves from the start to a goal region. More...
trajectory::InterpolatedPtr	planCRRT (const statespace::StateSpace::State *_start, constraint::TestablePtr _goalTestable, constraint::SampleablePtr _goalSampler, constraint::ProjectablePtr _trajConstraint, statespace::ConstStateSpacePtr _stateSpace, statespace::InterpolatorPtr _interpolator, distance::DistanceMetricPtr _dmetric, constraint::SampleablePtr _sampler, constraint::TestablePtr _validityConstraint, constraint::TestablePtr _boundsConstraint, constraint::ProjectablePtr _boundsProjector, double _maxPlanTime, double _maxExtensionDistance, double _maxDistanceBtwProjections, double _minStepsize)
	Use the CRRT planner to plan a trajectory that moves from the start to a goal region while respecting a constraint. More...
trajectory::InterpolatedPtr	planCRRTConnect (const statespace::StateSpace::State *_start, constraint::TestablePtr _goalTestable, constraint::SampleablePtr _goalSampler, constraint::ProjectablePtr _trajConstraint, statespace::ConstStateSpacePtr _stateSpace, statespace::InterpolatorPtr _interpolator, distance::DistanceMetricPtr _dmetric, constraint::SampleablePtr _sampler, constraint::TestablePtr _validityConstraint, constraint::TestablePtr _boundsConstraint, constraint::ProjectablePtr _boundsProjector, double _maxPlanTime, double _maxExtensionDistance, double _maxDistanceBtwProjections, double _minStepsize, double _minTreeConnectionDistance)
	Use the CRRT planner to plan a trajectory that moves from the start to a goal region while respecting a constraint. More...
::ompl::base::SpaceInformationPtr	getSpaceInformation (statespace::ConstStateSpacePtr _stateSpace, statespace::InterpolatorPtr _interpolator, distance::DistanceMetricPtr _dmetric, constraint::SampleablePtr _sampler, constraint::TestablePtr _validityConstraint, constraint::TestablePtr _boundsConstraint, constraint::ProjectablePtr _boundsProjector, double _maxDistanceBtwValidityChecks)
	Generate an OMPL SpaceInformation from aikido components. More...
ompl_shared_ptr<::ompl::base::GoalRegion >	getGoalRegion (::ompl::base::SpaceInformationPtr _si, constraint::TestablePtr _goalTestable, constraint::SampleablePtr _goalSampler)
	Create an OMPL GoalRegion from a Testable and Sampler that describe the goal region. More...
trajectory::InterpolatedPtr	planOMPL (const ::ompl::base::PlannerPtr &_planner, const ::ompl::base::ProblemDefinitionPtr &_pdef, statespace::ConstStateSpacePtr _sspace, statespace::InterpolatorPtr _interpolator, double _maxPlanTime)
	Use the template OMPL Planner type to plan in a custom OMPL Space Information and problem definition and return an aikido Trajector Returns nullptr on planning failure. More...
std::pair< std::unique_ptr< trajectory::Interpolated >, bool >	simplifyOMPL (statespace::StateSpacePtr _stateSpace, statespace::InterpolatorPtr _interpolator, distance::DistanceMetricPtr _dmetric, constraint::SampleablePtr _sampler, constraint::TestablePtr _validityConstraint, constraint::TestablePtr _boundsConstraint, constraint::ProjectablePtr _boundsProjector, double _maxDistanceBtwValidityChecks, double _timeout, std::size_t _maxEmptySteps, trajectory::InterpolatedPtr _originalTraj)
	Take in an aikido trajectory and simplify it using OMPL methods. More...
::ompl::geometric::PathGeometric	toOMPLTrajectory (const trajectory::InterpolatedPtr &_interpolatedTraj, ::ompl::base::SpaceInformationPtr _si)
	Take an interpolated trajectory and convert it into OMPL geometric path. More...
std::unique_ptr< trajectory::Interpolated >	toInterpolatedTrajectory (const ::ompl::geometric::PathGeometric &_path, statespace::InterpolatorPtr _interpolator)
	Take an OMPL geometric path and convert it into an interpolated trajectory. More...

Variables
constexpr double	EQUALITY_EPSILON = 1e-7
	The maximum distance between two states for them to be considered equal. More...

Typedef Documentation

ConstGeometricStateSpacePtr

using aikido::planner::ompl::ConstGeometricStateSpacePtr = typedef std::shared_ptr< const GeometricStateSpace >

GeometricStateSpacePtr

using aikido::planner::ompl::GeometricStateSpacePtr = typedef std::shared_ptr< GeometricStateSpace >

ompl_shared_ptr

template<class T >

using aikido::planner::ompl::ompl_shared_ptr = typedef boost::shared_ptr<T>

ompl_weak_ptr

template<class T >

using aikido::planner::ompl::ompl_weak_ptr = typedef boost::weak_ptr<T>

UniqueConstGeometricStateSpacePtr

using aikido::planner::ompl::UniqueConstGeometricStateSpacePtr = typedef std::unique_ptr< const GeometricStateSpace >

UniqueGeometricStateSpacePtr

using aikido::planner::ompl::UniqueGeometricStateSpacePtr = typedef std::unique_ptr< GeometricStateSpace >

WeakConstGeometricStateSpacePtr

using aikido::planner::ompl::WeakConstGeometricStateSpacePtr = typedef std::weak_ptr< const GeometricStateSpace >

WeakGeometricStateSpacePtr

using aikido::planner::ompl::WeakGeometricStateSpacePtr = typedef std::weak_ptr< GeometricStateSpace >

Function Documentation

createSpaceInformation()

::ompl::base::SpaceInformationPtr aikido::planner::ompl::createSpaceInformation	(	statespace::dart::MetaSkeletonStateSpacePtr	_stateSpace,
		constraint::TestablePtr	_validityConstraint,
		double	_maxDistanceBtwValidityChecks,
		std::unique_ptr< common::RNG >	_rng
	)

Create a SpaceInformation by constructing default bounds constraints and metrics for the given robot.

Parameters

_stateSpace	The dart MetaSkeletonStateSpace to plan in
_validityConstraint	A constraint describing a set of checks that should be done before marking a state as valid. This constraint should include collision checks. It does not need to include joint limits or boundary checks. These will be added by the function.
_maxDistanceBtwValidityChecks	The maximum distance (under dmetric) between validity checking two successive points on a tree extension
_rng	A random number generator to be used by state samplers

getGoalRegion()

ompl_shared_ptr<::ompl::base::GoalRegion> aikido::planner::ompl::getGoalRegion	(	::ompl::base::SpaceInformationPtr	_si,
		constraint::TestablePtr	_goalTestable,
		constraint::SampleablePtr	_goalSampler
	)

Create an OMPL GoalRegion from a Testable and Sampler that describe the goal region.

Parameters

_si	Information about the planning space
_goalTestable	A Testable constraint that can determine if a given state is a goal state
_goalSampler	A Sampleable capable of sampling states that satisfy _goalTestable

getSpaceInformation()

::ompl::base::SpaceInformationPtr aikido::planner::ompl::getSpaceInformation	(	statespace::ConstStateSpacePtr	_stateSpace,
		statespace::InterpolatorPtr	_interpolator,
		distance::DistanceMetricPtr	_dmetric,
		constraint::SampleablePtr	_sampler,
		constraint::TestablePtr	_validityConstraint,
		constraint::TestablePtr	_boundsConstraint,
		constraint::ProjectablePtr	_boundsProjector,
		double	_maxDistanceBtwValidityChecks
	)

Generate an OMPL SpaceInformation from aikido components.

Parameters

_stateSpace	The StateSpace that the SpaceInformation operates on
_interpolator	An Interpolator defined on the StateSpace. This is used to interpolate between two points within the space.
_dmetric	A valid distance metric defined on the StateSpace
_sampler	A Sampleable that can sample states from the StateSpace. Warning: Many OMPL planners internally assume this sampler samples uniformly. Care should be taken when using a non-uniform sampler.
_validityConstraint	A constraint used to test validity during planning. This should include collision checking and any other constraints that must be satisfied for a state to be considered valid.
_boundsConstraint	A constraint used to determine whether states encountered during planning fall within any bounds specified on the StateSpace. In addition to the _validityConstraint, this must also be satsified for a state to be considered valid.
_boundsProjector	A Projectable that projects a state back within valid bounds defined on the StateSpace
_maxDistanceBtwValidityChecks	The maximum distance (under dmetric) between validity checking two successive points on a tree extension

ompl_bind()

template<class F , class... Args>

auto aikido::planner::ompl::ompl_bind	(	F &&	f,
		Args &&...	args
	)		-> decltype(boost::bind(std::forward<F>(f), std::forward<Args>(args)...))

ompl_dynamic_pointer_cast()

template<class T , class U >

ompl_shared_ptr<T> aikido::planner::ompl::ompl_dynamic_pointer_cast

(

const ompl_shared_ptr< U > &

r

)

ompl_make_shared()

template<class T , class... Args>

ompl_shared_ptr<T> aikido::planner::ompl::ompl_make_shared

(

Args &&...

args

)

ompl_static_pointer_cast()

template<class T , class U >

ompl_shared_ptr<T> aikido::planner::ompl::ompl_static_pointer_cast

(

const ompl_shared_ptr< U > &

r

)

planCRRT()

trajectory::InterpolatedPtr aikido::planner::ompl::planCRRT	(	const statespace::StateSpace::State *	_start,
		constraint::TestablePtr	_goalTestable,
		constraint::SampleablePtr	_goalSampler,
		constraint::ProjectablePtr	_trajConstraint,
		statespace::ConstStateSpacePtr	_stateSpace,
		statespace::InterpolatorPtr	_interpolator,
		distance::DistanceMetricPtr	_dmetric,
		constraint::SampleablePtr	_sampler,
		constraint::TestablePtr	_validityConstraint,
		constraint::TestablePtr	_boundsConstraint,
		constraint::ProjectablePtr	_boundsProjector,
		double	_maxPlanTime,
		double	_maxExtensionDistance,
		double	_maxDistanceBtwProjections,
		double	_minStepsize
	)

Use the CRRT planner to plan a trajectory that moves from the start to a goal region while respecting a constraint.

Parameters

_start	The start state
_goalTestable	A Testable constraint that can determine if a given state is a goal state
_goalSampler	A Sampleable capable of sampling states that satisfy _goalTestable
_trajConstraint	The constraint to satisfy along the trajectory
_stateSpace	The StateSpace that the planner must plan within
_interpolator	An Interpolator defined on the StateSpace. This is used to interpolate between two points within the space.
_dmetric	A valid distance metric defined on the StateSpace
_sampler	A Sampleable that can sample states from the StateSpace. Warning: Many OMPL planners internally assume this sampler samples uniformly. Care should be taken when using a non-uniform sampler.
_validityConstraint	A constraint used to test validity during planning. This should include collision checking and any other constraints that must be satisfied for a state to be considered valid.
_boundsConstraint	A constraint used to determine whether states encountered during planning fall within any bounds specified on the StateSpace. In addition to the _validityConstraint, this must also be satsified for a state to be considered valid.
_boundsProjector	A Projectable that projects a state back within valid bounds defined on the StateSpace
_maxPlanTime	The maximum time to allow the planner to search for a solution
_maxExtensionDistance	The maximum distance to extend the tree on a single extension
_maxDistanceBtwProjections	The maximum distance (under dmetric) between projecting and validity checking two successive points on a tree extension
_minStepsize	The minimum distance between two states for the them to be considered "different"

planCRRTConnect()

trajectory::InterpolatedPtr aikido::planner::ompl::planCRRTConnect	(	const statespace::StateSpace::State *	_start,
		constraint::TestablePtr	_goalTestable,
		constraint::SampleablePtr	_goalSampler,
		constraint::ProjectablePtr	_trajConstraint,
		statespace::ConstStateSpacePtr	_stateSpace,
		statespace::InterpolatorPtr	_interpolator,
		distance::DistanceMetricPtr	_dmetric,
		constraint::SampleablePtr	_sampler,
		constraint::TestablePtr	_validityConstraint,
		constraint::TestablePtr	_boundsConstraint,
		constraint::ProjectablePtr	_boundsProjector,
		double	_maxPlanTime,
		double	_maxExtensionDistance,
		double	_maxDistanceBtwProjections,
		double	_minStepsize,
		double	_minTreeConnectionDistance
	)

Use the CRRT planner to plan a trajectory that moves from the start to a goal region while respecting a constraint.

Parameters

_start	The start state
_goalTestable	A Testable constraint that can determine if a given state is a goal state
_goalSampler	A Sampleable capable of sampling states that satisfy _goalTestable
_trajConstraint	The constraint to satisfy along the trajectory
_stateSpace	The StateSpace that the planner must plan within
_interpolator	An Interpolator defined on the StateSpace. This is used to interpolate between two points within the space.
_dmetric	A valid distance metric defined on the StateSpace
_sampler	A Sampleable that can sample states from the StateSpace. Warning: Many OMPL planners internally assume this sampler samples uniformly. Care should be taken when using a non-uniform sampler.
_validityConstraint	A constraint used to test validity during planning. This should include collision checking and any other constraints that must be satisfied for a state to be considered valid.
_boundsConstraint	A constraint used to determine whether states encountered during planning fall within any bounds specified on the StateSpace. In addition to the _validityConstraint, this must also be satsified for a state to be considered valid.
_boundsProjector	A Projectable that projects a state back within valid bounds defined on the StateSpace
_maxPlanTime	The maximum time to allow the planner to search for a solution
_maxExtensionDistance	The maximum distance to extend the tree on a single extension
_maxDistanceBtwProjections	The maximum distance (under dmetric) between projecting and validity checking two successive points on a tree extension
_minTreeConnectionDistance	The minumum distance between the start and goal tree to consider them connected
_minStepsize	The minimum distance between two states for the them to be considered "different"

planOMPL() [1/3]

trajectory::InterpolatedPtr aikido::planner::ompl::planOMPL	(	const ::ompl::base::PlannerPtr &	_planner,
		const ::ompl::base::ProblemDefinitionPtr &	_pdef,
		statespace::ConstStateSpacePtr	_sspace,
		statespace::InterpolatorPtr	_interpolator,
		double	_maxPlanTime
	)

Use the template OMPL Planner type to plan in a custom OMPL Space Information and problem definition and return an aikido Trajector Returns nullptr on planning failure.

Parameters

_planner	Points to some OMPL planner.
_pdef	The ProblemDefintion. This contains start and goal conditions for the planner.
_sspace	The aikido StateSpace to plan against. Used for constructing the return trajectory.
_interpolator	An aikido interpolator that can be used with the _stateSpace.
_maxPlanTime	The maximum time to allow the planner to search for a solution

planOMPL() [2/3]

template<class PlannerType >

trajectory::InterpolatedPtr aikido::planner::ompl::planOMPL	(	const statespace::StateSpace::State *	_start,
		const statespace::StateSpace::State *	_goal,
		statespace::ConstStateSpacePtr	_stateSpace,
		statespace::InterpolatorPtr	_interpolator,
		distance::DistanceMetricPtr	_dmetric,
		constraint::SampleablePtr	_sampler,
		constraint::TestablePtr	_validityConstraint,
		constraint::TestablePtr	_boundsConstraint,
		constraint::ProjectablePtr	_boundsProjector,
		double	_maxPlanTime,
		double	_maxDistanceBtwValidityChecks
	)

Use the template OMPL Planner type to plan a trajectory that moves from the start to the goal point.

Returns nullptr on planning failure.

Parameters

_start	The start state
_goal	The goal state
_stateSpace	The StateSpace that the planner must plan within
_interpolator	An Interpolator defined on the StateSpace. This is used to interpolate between two points within the space.
_dmetric	A valid distance metric defined on the StateSpace
_sampler	A Sampleable that can sample states from the StateSpace. Warning: Many OMPL planners internally assume this sampler samples uniformly. Care should be taken when using a non-uniform sampler.
_validityConstraint	A constraint used to test validity during planning. This should include collision checking and any other constraints that must be satisfied for a state to be considered valid.
_boundsConstraint	A constraint used to determine whether states encountered during planning fall within any bounds specified on the StateSpace. In addition to the _validityConstraint, this must also be satsified for a state to be considered valid.
_boundsProjector	A Projectable that projects a state back within valid bounds defined on the StateSpace
_maxPlanTime	The maximum time to allow the planner to search for a solution
_maxDistanceBtwValidityChecks	The maximum distance (under dmetric) between validity checking two successive points on a tree extension

planOMPL() [3/3]

template<class PlannerType >

trajectory::InterpolatedPtr aikido::planner::ompl::planOMPL	(	const statespace::StateSpace::State *	_start,
		constraint::TestablePtr	_goalTestable,
		constraint::SampleablePtr	_goalSampler,
		statespace::ConstStateSpacePtr	_stateSpace,
		statespace::InterpolatorPtr	_interpolator,
		distance::DistanceMetricPtr	_dmetric,
		constraint::SampleablePtr	_sampler,
		constraint::TestablePtr	_validityConstraint,
		constraint::TestablePtr	_boundsConstraint,
		constraint::ProjectablePtr	_boundsProjector,
		double	_maxPlanTime,
		double	_maxDistanceBtwValidityChecks
	)

Use the template OMPL Planner type to plan a trajectory that moves from the start to a goal region.

Returns nullptr on planning failure.

Parameters

_start	The start state
_goalTestable	A Testable constraint that can determine if a given state is a goal state
_goalSampler	A Sampleable capable of sampling states that satisfy _goalTestable
_stateSpace	The StateSpace that the planner must plan within
_interpolator	An Interpolator defined on the StateSpace. This is used to interpolate between two points within the space.
_dmetric	A valid distance metric defined on the StateSpace
_sampler	A Sampleable that can sample states from the StateSpace. Warning: Many OMPL planners internally assume this sampler samples uniformly. Care should be taken when using a non-uniform sampler.
_validityConstraint	A constraint used to test validity during planning. This should include collision checking and any other constraints that must be satisfied for a state to be considered valid.
_boundsConstraint	A constraint used to determine whether states encountered during planning fall within any bounds specified on the StateSpace. In addition to the _validityConstraint, this must also be satsified for a state to be considered valid.
_boundsProjector	A Projectable that projects a state back within valid bounds defined on the StateSpace
_maxPlanTime	The maximum time to allow the planner to search for a solution
_maxDistanceBtwValidityChecks	The maximum distance (under dmetric) between validity checking two successive points on a tree extension

simplifyOMPL()

std::pair<std::unique_ptr<trajectory::Interpolated>, bool> aikido::planner::ompl::simplifyOMPL	(	statespace::StateSpacePtr	_stateSpace,
		statespace::InterpolatorPtr	_interpolator,
		distance::DistanceMetricPtr	_dmetric,
		constraint::SampleablePtr	_sampler,
		constraint::TestablePtr	_validityConstraint,
		constraint::TestablePtr	_boundsConstraint,
		constraint::ProjectablePtr	_boundsProjector,
		double	_maxDistanceBtwValidityChecks,
		double	_timeout,
		std::size_t	_maxEmptySteps,
		trajectory::InterpolatedPtr	_originalTraj
	)

Take in an aikido trajectory and simplify it using OMPL methods.

Parameters

_stateSpace	The StateSpace that the planner must plan within
_interpolator	An Interpolator defined on the StateSpace. This is used to interpolate between two points within the space.
_dmetric	A valid distance metric defined on the StateSpace
_sampler	A Sampleable that can sample states from the StateSpace. Warning: Many OMPL planners internally assume this sampler samples uniformly. Care should be taken when using a non-uniform sampler.
_validityConstraint	A constraint used to test validity during planning. This should include collision checking and any other constraints that must be satisfied for a state to be considered valid.
_boundsConstraint	A constraint used to determine whether states encountered during planning fall within any bounds specified on the StateSpace. In addition to the _validityConstraint, this must also be satsified for a state to be considered valid.
_boundsProjector	A Projectable that projects a state back within valid bounds defined on the StateSpace
_maxDistanceBtwValidityChecks	The maximum distance (under dmetric) between validity checking two successive points on a tree extension
_timeout	Timeout, in seconds, after which the simplifier terminates to return possibly shortened path
_maxEmptySteps	Maximum number of consecutive failed attempts at shortening before simplification terminates. Default 0, equal to number of states in the path
_originalTraj	The untimed trajectory obtained from the planner, needs simplifying.

toInterpolatedTrajectory()

std::unique_ptr<trajectory::Interpolated> aikido::planner::ompl::toInterpolatedTrajectory	(	const ::ompl::geometric::PathGeometric &	_path,
		statespace::InterpolatorPtr	_interpolator
	)

Take an OMPL geometric path and convert it into an interpolated trajectory.

Parameters

_path	The OMPL geometric path
_interpolator	An Interpolator defined on the StateSpace. This is used to interpolate between two points within the space. returns the corresponding interpolated trajectory

toOMPLTrajectory()

::ompl::geometric::PathGeometric aikido::planner::ompl::toOMPLTrajectory	(	const trajectory::InterpolatedPtr &	_interpolatedTraj,
		::ompl::base::SpaceInformationPtr	_si
	)

Take an interpolated trajectory and convert it into OMPL geometric path.

Parameters

_interpolatedTraj	the interpolated trajectory to be converted
_si	Information about the planning space returns the corresponding OMPL geometric path

Variable Documentation

EQUALITY_EPSILON

constexpr double aikido::planner::ompl::EQUALITY_EPSILON = 1e-7

constexpr

The maximum distance between two states for them to be considered equal.