43 namespace ompl
79 ~BKPIECE1() override;
85 projectionEvaluator_ = projectionEvaluator;
98 return projectionEvaluator_;
108 maxDistance_ = distance;
114 return maxDistance_;
133 return dStart_.getBorderFraction();
142 failedExpansionScoreFactor_ = factor;
149 return failedExpansionScoreFactor_;
160 minValidPathFraction_ = fraction;
166 return minValidPathFraction_;
169 void setup() override;
172 void clear() override;
181 Motion() = default;
188 ~Motion() = default;
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
void setRange(double distance)
Set the range the planner is supposed to use.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Discretization< Motion > dGoal_
The goal tree.
const base::State * root
The root state (start state) that leads to this motion.
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
A shared pointer wrapper for ompl::base::ValidStateSampler.
Bi-directional KPIECE with one level of discretization.
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
void freeMotion(Motion *motion)
Free the memory for a motion.
The employed projection evaluator.
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...
Discretization< Motion > dStart_
The start tree.
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed...
double getRange() const
Get the range the planner is using.
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
The maximum length of a motion to be added to a tree.
One-level discretization used for KPIECE.
Representation of a motion for this algorithm.
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
A shared pointer wrapper for ompl::base::SpaceInformation.
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
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...
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail. If the extension fails, the score of the cell is multiplied by factor. These number should be in the range (0, 1].
base::State * state
The state contained by this motion.
Motion * parent
The parent motion in the exploration tree.
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.
BKPIECE1(const base::SpaceInformationPtr &si)
The space information for which planning is done.
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...