OMPL Plugin API reference

The list of API functions below allows you to define and solve a motion planning problem with OMPL.

simOMPL.addGoalState
simOMPL.compute
simOMPL.createStateSpace
simOMPL.createTask
simOMPL.destroyStateSpace
simOMPL.destroyTask
simOMPL.drawPath
simOMPL.drawPlannerData
simOMPL.enforceBounds
simOMPL.getGoalDistance
simOMPL.getPath
simOMPL.getPathState
simOMPL.getPathStateCount
simOMPL.getPlannerData
simOMPL.getProjectedPathLength
simOMPL.getReversedPath
simOMPL.getStateSpaceDimension
simOMPL.hasApproximateSolution
simOMPL.hasExactSolution
simOMPL.hasSolution
simOMPL.interpolatePath
simOMPL.isStateValid
simOMPL.isStateWithinBounds
simOMPL.printTaskInfo
simOMPL.projectStates
simOMPL.projectionSize
simOMPL.readState
simOMPL.removeDrawingObjects
simOMPL.setAlgorithm
simOMPL.setCollisionPairs
simOMPL.setDubinsParams
simOMPL.setGoal
simOMPL.setGoalCallback
simOMPL.setGoalState
simOMPL.setGoalStates
simOMPL.setProjectionEvaluationCallback
simOMPL.setStartState
simOMPL.setStateSpace
simOMPL.setStateValidationCallback
simOMPL.setStateValidityCheckingResolution
simOMPL.setValidStateSamplerCallback
simOMPL.setVerboseLevel
simOMPL.setup
simOMPL.simplifyPath
simOMPL.solve
simOMPL.stateDistance
simOMPL.writeState