LBTRRT.h
void updateChildCostsApx(Motion *m, double delta)
update the child cost of the approximation tree
Definition: LBTRRT.cpp:405
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: LBTRRT.cpp:385
comparator - metric is the lower bound cost
Definition: LBTRRT.h:215
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
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: LBTRRT.cpp:112
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: LBTRRT.h:247
A shared pointer wrapper for ompl::base::StateSampler.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition: PlannerTerminationCondition.h:63
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LBTRRT.cpp:84
void removeFromParentApx(Motion *m)
remove motion from its parent in the approximation tree
Definition: LBTRRT.cpp:426
double goalBias_
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
Definition: LBTRRT.h:283
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:56
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: LBTRRT.h:295
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
Definition: LBTRRT.h:273
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
std::vector< Motion * > idToMotionMap_
mapping between a motion id and the motion
Definition: LBTRRT.h:279
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LBTRRT.h:110
void considerEdge(Motion *parent, Motion *child, double c)
consider an edge for addition to the roadmap
Definition: LBTRRT.cpp:307
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
Definition: LBTRRT.h:168
double lazilyUpdateApxParent(Motion *child, Motion *parent)
lazily update the parent in the approximation tree without updating costs to cildren ...
Definition: LBTRRT.cpp:414
comparator - metric is the cost to reach state via a specific state
Definition: LBTRRT.h:194
Definition: DynamicSSSP.h:57
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LBTRRT.cpp:70
double costLb_
The lower bound cost of the motion while it is stored in the lowerBoundGraph_ and this may seem redun...
Definition: LBTRRT.h:184
std::vector< Motion * > childrenApx_
The children in the approximation tree.
Definition: LBTRRT.h:190