QRRTImpl.cpp
43 ompl::geometric::QRRTImpl::QRRTImpl(const base::SpaceInformationPtr &si, QuotientSpace *parent_) : BaseT(si, parent_)
46 Planner::declareParam<double>("range", this, &QRRTImpl::setRange, &QRRTImpl::getRange, "0.:1.:10000.");
47 Planner::declareParam<double>("goal_bias", this, &QRRTImpl::setGoalBias, &QRRTImpl::getGoalBias, "0.:.1:1.");
136 Q1->getStateSpace()->interpolate(q_nearest->state, qRandom_->state, maxDistance_ / d, qRandom_->state);
double getImportance() const override
Importance based on how many vertices the tree has.
Definition: QRRTImpl.cpp:162
virtual bool sampleQuotient(ompl::base::State *) override
Quotient-Space sampling by choosing a random vertex from parent class tree.
Definition: QRRTImpl.cpp:204
virtual void grow() override
One iteration of RRT with adjusted sampling function.
Definition: QRRTImpl.cpp:106
virtual void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: QRRTImpl.cpp:84
virtual bool sample(ompl::base::State *q_random) override
Uniform sampling.
Definition: QRRTImpl.cpp:182
virtual void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: QRRTImpl.cpp:76
A configuration in quotient-space.
Definition: QuotientSpaceGraph.h:76
normalized_index_type index
Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)],...
Definition: QuotientSpaceGraph.h:106
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:60
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225