45 namespace ompl
71 ~BiEST() override;
75 void clear() override;
84 maxDistance_ = distance;
94 return maxDistance_;
97 void setup() override;
116 ~Motion() = default;
147 PDF<Motion *> goalPdf_;
150 void freeMemory();
154 const std::shared_ptr<NearestNeighbors<Motion *>> &nn,
PDF< Motion * >::Element * element
A pointer to the corresponding element in the probability distribution function.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
std::vector< Motion * > startMotions_
The set of all states in the start tree.
Valid state sampler.
A shared pointer wrapper for ompl::base::ValidStateSampler.
double getRange() const
Get the range the planner is using.
Motion * parent
The parent motion in the exploration tree.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
The maximum length of a motion to be added to a tree.
const base::State * root
The root node of the tree this motion is in.
Free the memory allocated by this planner.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
base::State * state
The state contained by the motion.
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...
BiEST(const base::SpaceInformationPtr &si)
The radius considered for neighborhood.
A class to store the exit status of Planner::solve()
A shared pointer wrapper for ompl::base::SpaceInformation.
Abstract representation of a container that can perform nearest neighbors queries.
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
void addMotion(Motion *motion, std::vector< Motion *> &motions, PDF< Motion *> &pdf, const std::shared_ptr< NearestNeighbors< Motion *>> &nn, const std::vector< Motion *> &neighbors)
Add a motion to the exploration tree.
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
PDF< Motion * > startPdf_
The probability distribution function over states in each tree.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
void setRange(double distance)
Set the range the planner is supposed to use.
The space information for which planning is done.