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CheckSettings.cpp
00001 /*********************************************************************
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/geometric/planners/CheckSettings.h"
00038 #include "ompl/util/Exception.h"
00039 #include "ompl/util/Console.h"
00040 #include "ompl/util/MagicConstants.h"
00041 #include <limits>
00042 
00043 void ompl::geometric::checkMotionLength(const base::Planner *planner, double &length)
00044 {
00045     if (length < std::numeric_limits<double>::epsilon())
00046     {
00047         length = planner->getSpaceInformation()->getMaximumExtent() * magic::MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION;
00048         msg::Interface msg(planner->getName());
00049         msg.inform("Maximum motion extension distance is assumed to be %f", length);
00050     }
00051 }
00052 
00053 void ompl::geometric::checkProjectionEvaluator(const base::Planner *planner, base::ProjectionEvaluatorPtr &proj)
00054 {
00055     if (!proj)
00056     {
00057         msg::Interface msg(planner->getName());
00058         msg.inform("Attempting to use default projection.");
00059         proj = planner->getSpaceInformation()->getStateManifold()->getDefaultProjection();
00060     }
00061     if (!proj)
00062         throw Exception(planner->getName(), "No projection evaluator specified");
00063     proj->setup();
00064 }
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