45 namespace ompl
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();
Set a different nearest neighbors datastructure.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
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.
void setGoalBias(double goalBias)
Set the goal biasing.
A shared pointer wrapper for ompl::base::StateSampler.
std::vector< Motion * > children
The set of motions that descend from this one.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
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 removeMotion(Motion *motion)
Remove a motion from the tree datastructure.
The maximum length of a motion to be added to a tree.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
void setRange(double distance)
Set the range the planner is supposed to use.
The fraction of time the goal is picked as the state to expand towards (if such a state is available)...
A class to store the exit status of Planner::solve()
A shared pointer wrapper for ompl::base::SpaceInformation.
double getGoalBias() const
Get the goal bias the planner is using.
base::State * state
The state contained by the motion.
Free the memory allocated by this planner.
Flag indicating whether this motion has been validated.
std::shared_ptr< NearestNeighbors< Motion * > > nn_
A nearest-neighbors datastructure containing the tree of motions.
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
LazyRRT(const base::SpaceInformationPtr &si)
The space information for which planning is done.
Motion * parent
The parent motion in the exploration tree.
Motion(const base::SpaceInformationPtr &si)
Constructor that allocates memory for the state.