BKPIECE1.h
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Definition: BKPIECE1.h:96
const base::State * root
The root state (start state) that leads to this motion.
Definition: BKPIECE1.h:191
Representation of a motion for this algorithm.
Definition: BKPIECE1.h:179
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: BKPIECE1.cpp:76
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: BKPIECE1.h:164
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BKPIECE1.h:106
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state.
Definition: BKPIECE1.h:83
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.
Definition: BKPIECE1.h:147
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:64
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BKPIECE1.cpp:242
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: BKPIECE1.h:184
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
double minValidPathFraction_
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: BKPIECE1.h:225
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: BKPIECE1.h:158
Bi-directional KPIECE with one level of discretization.
Definition: BKPIECE1.h:74
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail....
Definition: BKPIECE1.h:140
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: BKPIECE1.h:131
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
Definition: BKPIECE1.h:234
double failedExpansionScoreFactor_
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
Definition: BKPIECE1.h:218
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BKPIECE1.cpp:60
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
Definition: BKPIECE1.h:90
One-level discretization used for KPIECE.
Definition: Discretization.h:59
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: BKPIECE1.cpp:252
base::ProjectionEvaluatorPtr projectionEvaluator_
The employed projection evaluator.
Definition: BKPIECE1.h:207
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: BKPIECE1.h:123