43 namespace ompl
84 ~LBKPIECE1() override;
90 projectionEvaluator_ = projectionEvaluator;
103 return projectionEvaluator_;
113 maxDistance_ = distance;
119 return maxDistance_;
137 return dStart_.getBorderFraction();
148 minValidPathFraction_ = fraction;
154 return minValidPathFraction_;
157 void setup() override;
160 void clear() override;
169 Motion() = default;
173 : state(si->allocState())
177 ~Motion() = default;
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
The employed projection evaluator.
Motion * parent
The parent motion in the exploration tree.
Representation of a motion for this algorithm.
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
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...
base::State * state
The state contained by this motion.
A shared pointer wrapper for ompl::base::StateSampler.
std::pair< base::State *, base::State * > connectionPoint_
The pair of states in each tree connected during planning. Used for PlannerData computation.
void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
Set the projection evaluator. This class is able to compute the projection of a given state...
void removeMotion(Discretization< Motion > &disc, Motion *motion)
Remove a motion from a tree of motions.
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.
void setProjectionEvaluator(const std::string &name)
Set the projection evaluator (select one from the ones registered with the state space).
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.
double getRange() const
Get the range the planner is using.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
std::vector< Motion * > children
The set of motions descending from the current motion.
One-level discretization used for KPIECE.
void setRange(double distance)
Set the range the planner is supposed to use.
const base::ProjectionEvaluatorPtr & getProjectionEvaluator() const
Get the projection evaluator.
Discretization< Motion > dStart_
The start tree.
Discretization< Motion > dGoal_
The goal tree.
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
A class to store the exit status of Planner::solve()
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
A shared pointer wrapper for ompl::base::SpaceInformation.
bool isPathValid(Discretization< Motion > &disc, Motion *motion, base::State *temp)
Since solutions are computed in a lazy fashion, once trees are connected, the solution found needs to...
The employed state sampler.
Flag indicating whether this motion has been checked for validity.
void freeMotion(Motion *motion)
Free the memory for a motion.
Lazy Bi-directional KPIECE with one level of discretization.
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 setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
The space information for which planning is done.
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
const base::State * root
The root state (start state) that leads to this motion.
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...