00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Rice University 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Rice University nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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 }