45 namespace ompl
85 LazyRRT(const base::SpaceInformationPtr &si);
87 ~LazyRRT() override;
93 void clear() override;
106 goalBias_ = goalBias;
112 return goalBias_;
122 maxDistance_ = distance;
128 return maxDistance_;
136 OMPL_WARN("Calling setNearestNeighbors will clear all states.");
138 nn_ = std::make_shared<NN<Motion *>>();
142 void setup() override;
149 Motion() = default;
156 ~Motion() = default;
172 void freeMemory();
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
The space information for which planning is done.
std::vector< Motion * > children
The set of motions that descend from this one.
Motion * parent
The parent motion in the exploration tree.
base::State * state
The state contained by the motion.
Flag indicating whether this motion has been validated.
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.
The fraction of time the goal is picked as the state to expand towards (if such a state is available)
void setGoalBias(double goalBias)
Set the goal biasing.
Set a different nearest neighbors datastructure.
LazyRRT(const base::SpaceInformationPtr &si)
void setRange(double distance)
Set the range the planner is supposed to use.
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
void removeMotion(Motion *motion)
Remove a motion from the tree datastructure.
double getGoalBias() const
Get the goal bias the planner is using.
The maximum length of a motion to be added to a tree.
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
double getRange() const
Get the range the planner is using.
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
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 setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Free the memory allocated by this planner.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...